In this paper, an algorithm is proposed to improve the Maximum Load Carrying Capacity (MLCC) of flexible robot manipulators. The maximum allowable Load which can be achieved by a flexible manipulator along a given trajectory is limited by the joints' actuator capacity and the end effector accuracy constraint. In an open-loop approach, the end effectors deviation from the predeffned path is significant and the accuracy constraint restrains the maximum payLoad before actuators go into saturation mode. By using a controller, the accuracy of tracking will improve. The actuator constraint is not a major concern and, therefore, the full power of the actuators, which leads to an increase in the Maximum Load Carrying Capacity, can be used. In this case, the controller can play an important role in improving the maximum payLoad, so a robust controller is designed. However, the control strategy requires measurement of the elastic variables' velocity, which is not conveniently measurable. So, a nonlinear observer is designed to estimate these variables. A stability analysis of the proposed controller and state observer is performed on the basis of the Lyapunov Direct Method. In order to verify the effectiveness of the presented method, simulation is done for a two link flexible manipulator. The obtained maximum payLoad for open and closed-loop cases is compared, and the superiority of the method is illustrated.

The calculation of the Load Carrying capacity of variable thickness circular plates subjected to arbitrary rotational symmetric Loading is presented. The analysis considers plate materials that obey either the square or the Tresca yield criterion. By using upper and lower bound theorems of limit analysis, corresponding estimations for the Load Carrying capacity of the plate are obtained. It is shown that these two bounds are identical. Therefore, the obtained solution would represent the exact amount of the Load Carrying capacity of the variable thickness circular plate. Finally, in order to obtain solutions for some special cases, plates having step changes in thickness and those with linear thickness variation are considered and corresponding results are illustrated.

This paper focuses on the biomechanical aspects of the human lower extremity Loading condition during backpack Load Carrying. A biomechanical framework was generated with the aim of employing a block-oriented structure of Simulink integrated with the Virtual Reality Toolbox of MATLAB software to provide a simulation study of the musculoskeletal system in a virtual environment. In this case, a ten-degrees-of-freedom musculoskeletal model actuated with sixteen muscles in each leg was utilized to simulate movement in the sagittal plane. An inverse dynamics based optimization approach was employed to estimate the excitation level of the muscles. In addition, distributions of the mechanical power analysis for lower extremity muscles were carried out to enhance the understanding of human leg morphology and control mechanism to provide Load support. Simulation results provide a biomechanical framework to identify the muscles and joints, which are critically subjected to musculoskeletal injuries during the activity under investigation. Analysis of the muscle activation patterns and their distribution of the mechanical powers revealed the important role of the plantar flexors of the ankle and the extensors of the knee and hip joints in supporting the body during backpack Load Carrying.

Today with the rapid growth of the economy and the development of urban communities, we are witnessing an intensification of the conflict between the resources used by humans. Therefore, awareness of the capacity of available resources in order to achieve the goals of planning is an undeniable necessity. On the other hand, the increasing trend of pollutant production is a major challenge in the planning process. Therefore, in this study, in addition to examining the resources available at the urban level, human-produced pollutants are also considered. Among these, water resources and the pressure applied to water resources are considered as a key factor. This helps to form strategies for achieving sustainable development. This helps to form strategies for achieving sustainable development. In this research, we try to describe the range of urban environment Carrying capacity Condition the province based on resources as a basis for construction and management of residential areas, which means sustainable housing. In fact, assessing the Carrying capacity of urban environment resources leads to awareness of sustainability and increases the link between human activities and urban sustainability. Due to the high importance of resources in the issue of sustainability and the existing and increasing problems of Tehran province, in this study we have tried to estimate the Carrying capacity of the province with emphasis on water resources of the province. In this study, the criteria are divided into two groups of carrier and Load. Carriers have been studied from three dimensions of water facilities, water supply and environmental and the Load caused by human activity in the sectors of water consumption and production wastewater, socio-economic and pollution in the two sectors of waste and air. Shannon entropy method has been used to weight the indices. Finally, using the interaction of Loads to carriers, the Carrying capacity of Tehran province was estimated. According to the obtained results and with the available reports related to the existing conditions in Tehran province, it was determined that among the indicators related to water supply carrier, which has been considered as a key factor in this study, The groundwater resources index, the value of which is determined by the weight of 0. 0086, is the most important. According to the results of the Carrying capacity related to the interaction of Loads with carriers, respectively, carriers of water resources with the amount of 23. 748 the highest available capacity, then carriers of the environment of 6. 5663 and finally carriers of water facilities as the lowest capacity of Tehran province. There are three carriers with a value of 3. 7092. Finally, the numerical value of the total Carrying capacity of Tehran province based on the specified indicators is 34. 0235. In future studies, if the data and information related to other provinces are completed by implementing the method used in this study for other provinces, it will be possible to compare the values of Carrying capacity at the national level, and the results can help to improve the planning process based on comparisons between provinces.