This paper deals with kinematics and Dynamics of the human shoulder in order to obtain the workspace related to the reach ability of the wrist and applications to determine load for the wheelchair. The model contains six revolute degrees of freedom (D.O.F), two in costoclavicular and three in the shoulder joint and one in the elbow joint, while a six D.O.F model was developed according to give information of this study. A general computational procedure for the human shoulder given arbitrary trajectory is laid out in detail. Kinematics and Dynamic behavior of the model were then considered. Finally, a numerical example involving a six-degree of freedom manipulator using the method is presented and the results are discussed for a specified trajectory.

Algal growth and the water quality effects were studied and modeled in the lower reaches of the Colusa Basin Drain as a stream system. Statistical Techniques such as the correlation matrix and the stepwise multiple regression are performed on such variables as algal biomass, ammonia, nitrate, orthophosphate, temperature, and the solar radiation intensity in deriving an algae statistical model. Orthophosphate is shown as the limiting nutrient controlling the growth kinetics of algae. .A one-dimensional Dynamic mathematical and computer model is formulated to simulate suspended algae and water quality parameters. The mathematical solution is obtained by a finite-difference implicit method. The model is calibrated and confirmed with the data collected from the lower 30 km reaches of the Colusa Basin Drain. The simulation results for both the statistical and the Dynamic models are in good agreement with measured values. The model can be used to evaluate water quality in stream systems.

This paper presents a Dynamic model to simulate the high power single-phase “Written Pole” motors. The base of this modeling is generalized theory of electrical machines. Based on this theory, first, the required equations governing the Dynamic behavior of these motors are obtained. Next, the equations are solved in a special reference frame, which is valid for the unique properties of single-phase “Written Pole” motors. Finally, the comparison of simulating results of the modeling with the experimental ones shows high agreement.

Active magnetic bearings (AMBs) are relatively new members in bearings family. Against other bearings which support loads by forces produced by fluid film pressure or physical contact, AMBs support loads by magnetic fields without any contact with the shaft and make it to be levitated. Because of that feature, AMBs have lots of benefits in comparison with other bearings. This paper presents Modelling of AMBs with one and two degrees of freedom and the necessary parameters and equations for control of them is driven. Then, a numerical method based on orthogonal functions called Direct Method for optimal control in AMBs is presented with or without inequality constraints. The approach consists of reducing the optimal control problem with a two-boundary-value differential equation to a set of algebraic equations by approximating the state and control variables. This approximation uses orthogonal functions with unknown coefficients. In addition, the inequality constraints are converted to equal constraints. The problems are solved using Legendre and Haar bases. Simulation results demonstrate the benefits of Legendre functions method in compared with those using Haar bases.

In this study, a more accurate model of a fuel cell of molten carbonate was also used to determine input and output control variables and to investigate the behavior of the system with respect to those variables. A more complete kinetic was also implemented to increase the effectiveness of the presented paper. The input variables, methane andcell voltage, are included in the fuel flow rate of cell. The output of the model is the flow resulting from the cell which is a function of the electrochemical reaction rate, and accordingly also a function of the state variables quantities. In the following, the model was used to simulate step response of each input and then the Dynamic behavior of cell was analyzed. The results indicate that as the fuel flow rate into the celllessens, the productivity of the fuel gets higher. Also, in the analysis of the fuel cell it was seen that the temperature of molten carbonate depends strongly on the amount of combustion of compositions in the combustion chamber. As the inlet concentration of methane, hydrogen and carbon monoxide increased, the heat liberated from combustion was more and increasing the system temperature which results in increased thermal stress in the molten carbonate fuel cell.