Introduction Pulses are the second important for human diet. Pulses planting in agriculture systems had multiple outputs. In addition to their food importance for human and livestock, these plants play an important role in soil fertility. Growth and yield of French bean are substantially reduced by weed competition for nutrients, water and light. Application of pre emergence herbicides is quite common for weed control and it is often associated with post-emergence herbicide treatments. Alternatively, French bean growers rely on machine hoeing techniques, especially in organic farming systems. These techniques are often expensive, time consuming but they are not often successful or cost effective. The Critical Period of Weed Competition (CPWC) is a key consideration for IWMS programs and for the development of alternative weed management strategies. By definition, the critical period of crop growth cycle is length of time during which weeds must be controlled to prevent the unacceptable yield losses. The results showed that the bean is vulnerable to weeds, and weed control in bean production is the main problems in many countries, including Iran. The objectives of this study were to determine the CPWC in French bean, to gather specific information on the competition effects of weeds to this crop, and to understand the time during which yield-reducing competition occurs. Materials & Methods Field experiments were conducted in 2009-2010 at Azad University Shoushtar Branch Agricultural Research Station (32o 15′ N, 48o 28′ E). The soil was as: 42% clay, 51% silt and 7% sand, pH=7. 8, total organic matter 0. 4%, and a height of 84 meters above sea level. The soil was prepared according to the local practice for French bean production. Primary tillage consisted of spring chisel plugging and it was followed by two harrowing. The trials were preceded by wheat (Triticum aestivum L. ). French bean was sown at 40 seeds m-2 with the rows spaced 0. 9 m apart and at a depth of 4 cm. A randomized complete block design with 3 replicates was used for all trials. Individual plots consisted of 5 rows of French bean plants, each 4 m long. In order to determine the critical period of weed removal, the duration of tolerated competition (DTC) and weed-free period (WFP) were calculated. In order to determine the DTC, plots were left weedy for 12, 24, 36, 48, 60, 72 and 84 days after emergence (DAE) corresponding with 2-6, 6-10, 10-14, 14-18, 18-22 leaves, 50% flowering and 50% pod production respectively and weed free for the rest of the growing period. To determine the WFP, plots were kept weed-free for 12, 24, 36, 48, 60, 72 and 84 DAE and weedy for the rest of the growing period. The treatments were compared with two control plots kept weed-free and weedinfested throughout the crop cycle, respectively. We used MSTAT-C software to variance analyze of data. In addition, we used Duncan test to compare mean. Results & Discussion In this research, among wide leaf weeds Physali divaricat and Amaranthus viridis has the highest density. Narrow leaf weeds included Cyperus rotundus and Echinochloa crus-galli that Cyperus rotundus had the highest number. With prolongation of interference period of weeds the number of weeds primarily showed an increasing trend, and then decreased. In interference treatments the population of broad and narrow leaves reached the highest value i. e. 45 and 49 plant m-2 respectively 48 days after germination of French bean (14-18 leaves stage). After that their population decreased. Finally, their density respectively reached to 26 and 28 plant m-2 at harvest stage (Tables 1 and 2). The impact of interference and interference free treatments on dry weight of broad and narrow leaf weeds was significant (Table 3). With increase of competition period interference length treatments, dry weight of weeds increased such that the highest value of aggregated dry matter in broad leaves in throughout season interference treatment was 426. 7 gm-2, and in narrow leaves was related to interference treatment up to 72 days after germination of French bean (50% flowering) that reached 78. 3 gm-2. Dry weight of broad leaves in interference treatments was higher than narrow leaves (Table 8). With the closure of crop canopy a significant reduction occurred in density and biomass of narrow-leaf weeds. The results showed that the impact of weed interference and weed free period treatments on the performance of green pod and biological yield of French bean is significant at 1% probability level (Table 4). The comparison of green pod yield means of French bean showed that interference treatments significantly decreased the yield so that the lowest yield of green pod was seen in interference treatment up to 84 days. Its value was 349. 8 gm-2 that were located in the same statistical group with complete interference. In weed free period treatments, the highest value of yield was related to control treatment up to 84 days after germination that was 1959. 4 gm-2, and was located in the same statistical group with complete weed free treatment. Decreasing trend of pod yield can be attributed to weeds shade, flowers fall due to the presence of competition and more allocation of photosynthesis materials to growth. Therefore, French bean yield was decreased by increasing interference periods of weeds (Table 8). According to our research, the critical period for weeds control in French bean was determined 58 and 72 days after germination for acceptable reduction yield of 5% and 10%, respectively. Conclusion The results revealed the sensitivity of French bean in competition with weeds. Cultivation of beans requires correct implementation of weeds control operation particularly before planting and germination.

In order to investigate the possibility of quinoa producing in Garmsar, Iran, a factorial experiment conducted in randomized complete block design with three replications in 2018-2019 growing season at Garmsar Agricultural Research Station. The factors were planting date at three levels (March 6th, April 1st and April 6th) and the three genotypes of quinoa (Q26, Q29 and Titicaca). Results showed that the effect of planting date was significant for all studied traits except the harvest index. Also, all studied traits were significantly different in all genotypes. Titicaca planted on March 6th had the highest yield (2276 kg.ha-1).The grain yield and yield components decreased with the delaying the planting date. Compared to early plantings, Latest date, April 6th, led to reduction of all traits, especially grain yield (about 50%). The results of simple phenotypic correlation between the studied traits showed that grain yield per hectare had the highest correlation with plant yield (0.877) and then with leaf area index (0.832), panicle weight (0.815) and number of branches per plant (0.745) that was significant at the 1% probability level.

This paper develops a computational technique for finding the maximum Allowable ‎load of mobile manipulators for a given trajectory. The maximum Allowable loads ‎which can be achieved by a mobile manipulator during a given trajectory are limited ‎by the number of factors; probably the dynamic properties of mobile base and ‎mounted manipulator, their actuator limitations and additional constraints applied to ‎resolving the redundancy are the most important factors. To resolve extra D.O.F ‎introduced by the base mobility, additional constraint functions are proposed directly ‎in the task space of mobile manipulator. Finally, in two numerical examples involving ‎a two-link planar manipulator mounted on a differentially driven mobile base, ‎application of the method to determining maximum Allowable load is verified. The ‎simulation results demonstrates the maximum Allowable load on a desired trajectory ‎has not a unique value and directly depends on the additional constraint functions ‎which applies to resolve the motion redundancy‏.‏

Identifying the constraining factors of production and yield gap is very important. Therefore; this research was performed to identify the production constraining factors of local rice cultivars. All management practices from nursery preparation to harvesting stages for 100 paddy fields of local rice cultivars were recorded through field studies, in Sari, from 2015-2016. In the CPA, the actual and calculated potential yield were 4495 and 5703 kg/ha, respectively and the gap was 1221 kg/ha. The yield gap caused by number of top-dressing variables was 324 kg/ha, equal to 27% of the total yield gap. The yield gap related to previous year of legumes cultivation was 218 kg ha-1, equal to 18% of the total yield variation. Among the 10 variables entered in the CPA model, the effects of top-dress fertilizer application and its application frequency and foliar application were remarkable, which could compensate a significant part of the yield gap (444 kg/ha, 37% of total) in the farmers’ fields by managing these variables. According to boundary line analysis (BLA) finding, actual yield mean on the basis of optimal limit related to 12 variables under study was 5369 kg/ha, with 881 kg/ha yield gap . Mean relative yield and relative yield gap for 12 variables (transplanting date, seedling age, number of seedlings per hill, planting density, nitrogen and phosphorous per hectare, nitrogen before transplanting, harvesting date, lodging problem, pest problem, diseases problem and weeds problem) were 83.64 and 16.35 kg/ha, respectively. Based on the finding, it can be stated that the model precision is appropriate and can be applied for both estimation of the quantity of yield gap and determining the portion of each restricting yield variables.

Determination of Allowable free span length plays a crucial role in design of offshore pipelines. The seabed intervention cost and safety of an offshore pipelines project are largely influenced bypipelines free spanning during the project lifetime. Different criteria are proposed by both the current designing guidelines and researchers; there is however lack of comprehensive assessment of independent parameters affects the design length of free span. In this note, it is intended to investigate the effects of seabed formation along with axial force on Natural Frequency of offshore pipelines. Based on this assessment a new simple formula is proposed. Finally, to evaluate the result of this study, the Allowable free span length of Qeshem Islgnd pipelines is calculated as a case study and compared with those of the DNV (1998) and ABS (2001) guidelines and the modal analysis.

Gorganrood river is one of the three main rivers in Golestan province have a basic role in Golestan water supply. To study Gorganrood water quality and estimating maximum Allowable pollutant, water quality data was used from 8 stations. Purification of this river has been studied by two methods: statistical and experimental methods. Each method showed that the Gorganrood river at present condition has no problem for purification. Average measured BOD in this river on Tamar-Ghareghoozy station was 9.7 mg/Lit and maximum observed BOD on up stream of Voshmgir dam was, some times larger than Allowable amount but on the down stream there wasnt any problem. Average BOD in Gorganrood varies from 1.7 mg/Lit on Gonbad entrance station to 2.48 mg/Lit on Tamar-Ghareghoozy and Agh ghala entrance stations. This river has no main problem to fall pollutants. 

To investigate the effect of vermicompost, N fertilizer and their integration on growth, biological and essential yields oil and its components in two populations (Varamin and Isfahan), an experiment was conducted in a randomized complete block design with three replications in the field of Isfahan Medicinal Plants Research Center in 2016. Fertilizer treatments including 100% urea, vermicompost 33.3 and urea 66.6%, vermicompost 66.6 and urea 33.3%, 100% vermicompost and control treatment (without fertilizer) as the first factor and Varamin and Isfahan populations as the second factor were selected. The results showed that the interaction effects of nitrogen fertilizer and populations on all studied traits were significant. In both populations, nitrogen fertilizer improved height, biological and essential oil yields, content of essential oil compounds (d-Carvone and its yield, α-phellandrene and linalool; except p-Cymene and Limonene in Isfahan population). Since in medicinal plants, the quantity (biological yield) and quality (essential oil and d-Carvone; the most important ingredient and the highest amount of essential oil in this experiment), 66.6% vermicompost + 33.3% urea in Varamin population, was the best treatment in the experiment. In addition an in the direction of human health and sustainable agriculture, it is possible to reduce 33% of chemical fertilizers application and pollution; however, in terms of other essential oil contents (α-phellandrene, Linalool and p-Cymene), 100% vermicompost fertilizer treatment was superior in Isfahan population.

Maximum Allowable operating range of plants in different climatic conditions, fertile soils with different months in different seasons and in different degrees, because the pasture health is very variable. The purpose of this study was to determine the extent of utilization of Kordan key and the pastures are important. In this first region and a key area of one hectare in area Kordan and In the first year and was grazed, and fencing. Selected and removed from any of 0, 25, 50, 75% and control is exercised (a basic 10 treatments). Monthly by the clipper and the area is grazing season. Effective utilization of changes in the phenological characteristics, forage and seed production, vitality, mortality and other characteristics of selected plant species is. Finally, the combined analysis of data with a split plot design in SAS software was analysed. Results of studies of the effects on forage production and harvest of Bromus tomentellus species studied showed The effect of different levels, different years, and their interactions on the production level is a significant percentage. This shows that in different years with different weather conditions of production are different. According to the research findings, permissible utilization limit of 50 percent in the aspect of plant health was found suitable in the Kordan region.

In this paper, a general formula for finding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear flexible link manipulators is presented. The dynamic model for links in most mechanisms is often based on the small deflection theory but for applications like lightweight links, high-precision elements or high speed it is necessary to capture the deflection caused by nonlinear terms. First, the equations of motion are derived; taking into account the nonlinear strain displacement relationship using Finite Element Method (FEM) approaches. The maximum Allowable loads that can be achieved by a mobile manipulator during a given trajectory are limited by a number of factors. Therefore, a method for determination of the dynamic load carrying capacity for a given trajectory is explained, subject to the accuracy, actuator and amplitude of residual vibration constraints and by imposing a maximum stress limitation as a new constraint. In order to verify the effectiveness of the presented algorithm, two simulation studies considering a flexible two-link planar manipulator mounted on a mobile base are presented and the results are discussed. The simulation results indicate that the effect of introducing geometric elastic nonlinearities and inertia nonlinearities on the maximum Allowable loads of a manipulator.