In the last two decades, many researchers have focused on the problem of automation of vehicles, and many research has been devoted to solving the challenges posed by this area. One of the important aspects in this area is the problem of localizing the vehicle and mapping the Environment simultaneously in an unknown Environment, which is briefly referred to as SLAM. So far, many methods have been proposed to solve this problem, but few of these researches have been implemented on the platform of collaborative robots. In this paper, SLAM problem is extended to multi robot platform by employing extended kalman filter. Due to lack of knowledge about the measurement noise covariance, the elements of this matrix adapted according to the actual data received from the sensor by employing particle swarm optimization technique. Then, to solve this problem in the Dynamic Environment, probability hypothesis density filter is used to track the Dynamic objects in the field of view of sensors. Finally, the performance of the algorithm is evaluated in a MATLAB Environment.

Transmission expansion planning (TEP) is one of the most important parts in power systems. Restructuring of power system has changed the traditional planning objectives and introduced new challenges in the field of TEP. In this new Environment, the comprehensive and precise design based on electricity market criteria in planning horizon is indispensable. In this paper a new algorithm is proposed for Dynamic transmission expansion planning in deregulated Environment. In this method, investment cost and operation cost are considered as market based economic criteria, and average load curtailment cost in contingencies is considered as a reliability criterion from market players' viewpoint. Congestion cost is also used as a competition index between market participants. The combination of Genetic Algorithm (GA) and fuzzy satisfying method is used for solving TEP problem. At last the proposed method has been tested on 8-bus network and IEEE 30-bus network.

In recent years, the issue of the Environment has become more important than ever. This article seeks to extract the Dynamic Kuznets Environment curve. In this study, taking into account a closed economy, a part of capital used to produce goods that causes pollution and Environmental degradation. The remaining capital used to reduce pollution. As a result of the studies, it found that the Environmental curvature of Kuznets is outside of the stable and optimal conditions. It should noted that this model suggests that the economy should divide a part of its capital to prevent and reduce Environmental degradation. Also, Environmental degradation occurs at any stage, due to the fact that enough funds have not allocated to prevent and reduce Environmental degradation in the past stages (optimal allocation has indicated in these conditions); thus To retrieve and improve the quality of the Environment, an appropriate investment needed to save enough capital in the economy, by moving from undesirable investments to the optimal investment to improve the quality of the Environment, on the curve, the level of pollution Decrease.

Due to the lack of measurements in many regions, wave characteristics are estimated using different methods. Wave climate hindcasting/forecasting is mostly conducted by numerical models or empirical methods. Until now, different empirical methods have been developed for wave hindcasting. However, with the development of high speed processors, several sophisticated numerical models have been developed for wave prediction. These models are mostly phase-averaged spectral wave models developed in three generations. In the last two decades, third generation wave models have been used widely in academic and practical projects. In this regard, Port and Maritime Organization has produced his own model, PMO Dynamic. This model has been developed as a part of first three phases of Monitoring and Modeling of Study of Iranian Coasts project. PMO Dynamic package is a software available for engineering purposes. It has several modules that have been developed for different objectives. Wave model is the module which is used for the generation and transformation of wind waves in coastal areas. In this paper, in order to test the PMO Dynamic model capabilities, it has been applied for the prediction of wave parameters in Bushehr Bay and the results have been compared with MIKE21 SW model and measured data.

Prediction of the Dynamic behavior of machining operations during the process is the main challenge of machining simulations. Therefore, the investigation of effective parameters in Dynamic behavior is of great importance. Machining vibration is one of the most important factors. This article studied the vibration of the process by developing the Dynamic model of the boring bar. The high length-to-diameter ratio of the boring tool and its flexibility cause machining vibrations. The amplitude of the tooltip vibrations is a function of the Dynamic characteristic of the tool which can lead to the stability or instability of the process. Tool rigidity at low diameter to length ratios is high, and in most cutting conditions the process is stable. The impact test is used to extract the tool’ s Dynamic parameters and Dynamic modeling of the process is developed inside the Environment of ACIS software which is a powerful Boundary Representation (B-rep) solid modeling engine and it is proposed a novel method for simulating the Dynamic equation of boring bar by using a solid modeling technique in a precise geometric Environment. The mechanistic approach is used to modeling cutting mechanistic to develop the Dynamic force model in the time domain. Also, Dynamic time-domain parameters such as force, acceleration, and displacement in the Simulink Environment are simulated. The results confirm that the presented geometrical model by considering the tool Dynamics is well capable of estimating the force signal and the chip area changes.

Network pricing is an effective transportation demand management scheme to reduce traffic and control air pollution, particularly in CBD’s. In this study, congested area cordon entry and Park-and-Ride (P/R) facility use are priced for automobiles. Increase in these prices may reduce private auto demand by impelling some of them into using public transport from the origin of their trips, or encouraging them to park their cars at the P/R facilities and use buses, or pay the entrance fee and drive inside the cordon. A Markov decision process has been devised to findan optimal policy for pricing the P/R facilities and cordon entry in a city within a variable demand context. This process is sensitive to weather condition (more favorable atmospheric condition allows lower prices). It leads to a balance between the costs of pollution hazards to the public at large on one side, and the cost imposed upon auto drivers to take the next best decisions and their travel times and costs on the other side: thus giving a resilient character to the city. The model has been applied to the network of a large urban area, and the results are analyzed. Suggestions for further research end the discussion.

In this paper, a mobile robot path planning method in unknown Dynamic Environment is presented. Obstacles are moving with variable velocities and their paths are not predefined The unknown motion data of the obstacles are detected when they come to range of robot sensors. In this method, position of goal point and it’s relative position and velocity vectors between robot and obstacles are used to navigate the robot such that the difference between robot and the goal position connected line to be minimized. The procedure continuously repeated to avoid obstacles and reach the goal. For calculation and simulation, The maximum speed of the obstacles are assumed lower than the maximum speed of the robot. Theoretical analysis and simulation in the MATLAB software show that the presented method is effective to avoid collisions with moving obstacles in a Dynamic Environment.

Background: In intertrochanteric fractures، Dynamic hip screw (DHS) is the most frequently used tool، but several studies did not give good results for this device in reverse-oblique and transverse fractures. Current study aimed to compare fixation results of reverse-oblique intertrochanteric and short-segment subtrochanteric fractures using Dynamic condylar screw (DCS) and DHS in patients referred to Alzahra and Kashani Hospitals in Isfahan, Iran.Methods: In a cross-sectional study، medical files of the patients referred to emergency units of the two hospitals who were diagnosed with intertrochanteric or subtrochanteric fractures and underwent DHS or DCS surgery more than 6 months before were assessed; they were invited for follow-up visit and examination. Written consent forms were taken from all the patients upon their entry; and they were examined in terms of complications including nonunion and failure of device and level of fracture improvement. These cases were evaluated by simple radiography ,too. Results obtained from examination of patients in addition to demographic information were recorded in the data collection form for each patient.Findings: Perfect union was observed in 14 (of 25) patients in DHS group and 21 (of 25) patients in DCS group (56% vs. 84%) six months after the surgery. Bone union was significantly better in DCS group (P=0.031). In addition, six months after the surgery, the devices used in 14 people in DHS group and 24 people in DCS group were fixed and the difference between the two groups was significant (P=0.001). 14 and 24 patients had total recovery in DHS and DCS groups، respectively (20% vs. 44%) with a significant difference (P=0.020).Conclusion: Considering obtained results, it can be concluded that using DCS is recommended over DHS due to severity of pain, bone union and fixation of the device.