In the Dynamic manipulation of objects, the aim is to throw an object by a robot to the desired target even outside the reachable workspace. In this paper, the concept of the throw-able workspace or Dynamic manipulation workspace is defined as a set of points which the robot is able to throw the object at them. Thus, in order to obtain the maximum Dynamic manipulation workspace which means the farthest points that object can be manipulated, it is necessary to solve the optimal throwing problem. To this end, the optimal throwing problem is defined as the optimal control problem solved using the indirect solution method based on the fundamental theorem of the calculus of variations. By applying the throwing equation as a moving boundary condition, the derived optimality conditions construct a two-point boundary value problem which its solution results in the optimal throwing. Finally, an algorithm is presented to calculate the maximum Dynamic manipulation workspace. Then, simulation results are presented for a single link robot in order to evaluate the defined concept as well as the effectiveness of the proposed method for problem-solving.

Using the soft fingers increases stability and dexterity in object grasping and manipulation. This is because of the enlarged contact interface between soft fingers and object. Although slippage phenomenon has crucial role in robust grasping and stable manipulation, in most of the previous researches in the field of finger manipulation, it is assumed that the slippage between finger and object does not occur. In this paper, slippage Dynamic modeling in object grasping and manipulation using soft fingers is studied. Because of the enlarged contact interface between soft fingers and object, frictional moment along with tangential frictional force and normal force is applied on the contact interface. Therefore, novel method for Dynamic modeling of planar slippage using the concept of Friction Limit Surface is presented. In this method, equality and inequality relations of different states of planar contact are rewritten in the form of single second-order differential equation with variable coefficients. These coefficients are determined based on the slippage conditions. This kind of Dynamic modeling of contact forces can be used for designing the controllers to prevent the undesired slippage. The method is used in study of slippage analysis of three-link soft finger manipulating rigid object on horizontal surface. In order to increase the accuracy of Dynamic modeling of soft finger, Dynamics of soft tip is integrated with the Dynamic of finger linkage. Dynamic behavior of this system is shown in the numerical simulations.

Nanomanipulation process using atomic force microscopy is one of the new methods in manufacturing. This process has been seriously considered by researchers. Due to very high precision in the manufacture of devices for micro/nano-exist, accurate modeling process will have a significant impact on the construction of the devices. Also, due to the high cost of using atomic force microscopy manufacturing micro/nano-devices, it is necessary to first model this process was carefully done and then enters the construction areas. So far, many researchers have focused on modeling manipulation, most of their research, in conjunction with the 2D manipulation and been made using simple models of friction. Since the real manipulation in micro/nano-devices manufacturing is done in 3D environment and also given that the transition from the macro to the micro/nano, surface forces such as friction are important, therefore, in this paper, for the first time, LuGre friction model, in 3D manipulation modeling has been used. The results, indicating a decrease critical force and time manipulation using LuGre friction model versus the simple models, this is due to the fact that the LuGre friction model contained actual contact area, while other models involve nominal contact surface. Also, compare the 3D results obtained by 2D results show an increase in critical force and time that was due to the increase in surface area is proof of the accuracy of modeling.

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-Effector (EE) of the manipulator; On the contrary, utilizing the powerful tool optimal control accomplishing a point-to-point task for TLRFM is the purpose of the current research. Towards this goal, the pseudospectral method will be developed to meet the optimality conditions subject to system Dynamics and boundary conditions. The complicated optimal trajectory planning is formulated as a nonlinear programming problem and solved by SNOPT nonlinear solver. To make robust the response of optimal control against external disturbances as well as model parameter uncertainties, the control partitioning concept is employed.The controlled input is composed of an optimal control-based feedforward part and a PID-based feedback component. The obtained simulation results reveal the usefulness and robustness of the developed composite scheme, in DOM missions.

Purpose: The aim of this study is to report a successful management of a sever nonspecific chronic low back pain relating to visceral stiffness and altered respiratory pattern. Clinical Findings: A 33-year-old female with nonspecific low back pain, with abnormal visceral stiffness, pain in the right abdominal side, pain and tenderness in areas of pelvic and respiratory diaphragms and inability in diaphragmatic breathing. Pain severity was reported as 10 based on VAS. MRI findings showed intervertebral disc protrusion at L5-S1 level. Diagnosis: Pain derived from visceral spasms. Management: Four sessions of visceral manipulation with diaphragmatic breathing exercises and general stretching exercises. Results: At the end of 1st session, the pain severity was improved for 80%, at the end of 2nd session the patient was able to perform perfect diaphragmatic breathing and pain severity was reported 3 based on Visual Analogue Scale (VAS). After 3rd session, pain was felt only at the time of wake up.

The purpose of the present study was to investigate the effects of manipulation vision on learning Dynamic balance maintenance and exploring the boundaries of specificity of practice hypothesis. For this purpose, 45 girls, with the age rang of 21 to 23, who had no visual or physical deficienciet, were selected voluntarily and divided into three experimental groups based on pre-test results. Subjects performed a training program for three weeks, 3 sessions per week, 30 trials of 15 seconds in each session with 20 seconds rest. One group performed with normal vision, the second group performed in front of a full-length mirror using full vision and the third group performed half of the trails with mirror and the other half with no mirror. Feedback KR was provided to participants following each trail during daynamic balance practice. Then the duration of balance maintenance for all the subjects in acquisition, retention(practice with normal vision without receiving KR) and transfer (skill performance with blinker) were recorded on stabilometer. The results of one-way ANOVA with repeated measur (9x3) in acquisition stages. Revealed that the three groups had improved during practice sessions and the performance of the practice group practcing with mirror was better than the other two groups. The results of one-way ANOVA and ANCOVA, for a comparison among the performance of the three practice groups in acquisition, retention and transfer test a significant difference is among performance of the 3 groups only in retention test. Based on Bonferroni Post-hoc the practice group who did not use the mirror had a better performance in comparicon with the other groups. Considering the results of the present study, based on specificity of practice hypothesis, to inprove learning, one should practice under the same afferent imformation that s/he needs in the final performance condition.

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.

Managers accomplish earning management through real earning manipulation and accrual earning manipulation. Accomplishment of both options of earnings management has relative restrictions and relative costs. The problem is whether earning management choices accomplish simultaneously or one option accomplished before another. Therefore, the aim objective of this paper is to determine the substitutive relation between earning management choices (i.e. real earning management and accrual management). For hypothesis test in this study, data for 117 listed companies on Tehran Stock Exchange for period of 1380–1388 is used. To test research hypotheses, Hausman test and multiple regression model approach is applied. The results of this research indicate a substitutive relation between accrual earning management and real earning management. Also the results indicate that managers determine real earning management before accrual earning management.