---

Accuracy and numerical calculation time are the two main challenges of continuum robots dynamics modeling. In fact, the numerical calculation times of exact models are so long, that they are not practical in applications such as real-time control. This paper presents a new method for dynamics modeling of continuum robot backbones. In this method, the backbone shape is considered as an arbitrary number of constant-curvature (circular arc) elements, and the dynamics model is derived using Lagrange energy methods. First, kinetics and kinematics of one element are derived. Then, the robot kinematics is derived, as a series of such elements. Finally, the robot dynamics model is derived, using Euler-Lagrange method. This paper is focused on dynamics of the flexible body of continuum robots, and the proposed model is independent of actuation systems. Besides, the numerical singularity of the constant-curvature elements is avoided, which occurs when an element is straight. The model is validated using experimental results. Comparison of simulation and experimental results shows the accuracy of the proposed method on dynamics modeling. Furthermore, the calculation time of the model is short enough to make it practical for applications such as real-time control.

---

Flexible solar panels of a satellite during a maneuver get excited and vibrate. Such vibrations will cause some oscillatory disturbance forces that affect the satellite rigid body. Vibrations cause cracks in flexible solar panels and these cracks, because of fatigue, make panels fracture. Moreover, satellite rigid body which does accurate works like capturing picture of earth surface or sending information to earth will be disturbed as a result of vibration. Therefore it needs to be prevented against resonance. In this paper, dynamic equations of a satellite including cubical rigid body are extracted, then with combination of ANSYS and ADAMS softwares, the model is simulated and its responses has been compared with analytical model. New control strategy for reducing the vibration of flexible bodies of the multi body system, includes rigid and flexible bodies, is proposed. With eliminate oscillation from rigid body angular velocity, vibrations amplitude of flexible parts will be reduced. For this purpose, an adaptive control system and a notch filter is used to eliminate the oscillation of measurement procedure caused by the vibration of flexible solar panels. Adaptive control system responses with considering resonance and without resonance, is shown and merits of this method is evaluated.

---

Wearable robots are robots which are used for rehabilitation or augmentation by human. Recently, there has been an increasing interest in the development of wearable devices to assist elderly as well as patients, soldiers and many other persons for movement assistance and power augmentation. On the other hand, a realization of wearable robot which has the same degree of freedom of a human is not easy from considerations about a size and weight of device. This study is about a lower limb assist robot that consist of just an actuator on each of legs. In this paper after a brief review on wearable robots and their applications, a suitable design of robot which is named RoboWalk presented with inspiring from Honda weight compensation system. In the following kinematics and dynamics modeling of system presents with using of denavit-hartenberg parameters and validates with ADAMS software results. Results with high accuracy has been achieved. It’s necessary to evaluate main foundation of design of robot which is an assistant force in the direction of foot reaction force that has been achieved with the accuracy of 0.02 radians. finally effect of change in user’s weight, position of center of mass and friction of walking assistant robot component is examined in this study.

---

Today, the use of underwater robots to explorer underwater conditions has significant grown. Underwater gliders (UG) are robot of the favorite of researchers for long-time operations due to their low energy consumption. Exact the identification of dimensional parameters is critical to evaluate the hydrodynamic performance of underwater gliders, which properly can rising the efficiency of robots. In this research, an attempt has been made to first extract a nonlinear dynamic model from UG. The dynamic model has been verified with the results of related other research. After checking the accuracy of the model, dimensional parametric investigation in robot hydrodynamic performance has been performed. Parameters such as buoyancy tank volume, Pitch angle and wing geometry have been target this research. In the study of each parameter, other parameters are considered constant so that the effect of target parameter can be measured. The results indicate that parameters have a significant impact on efficiency and hydrodynamic performance of the robot. Properly designed glider can be more flexible in the face of external disturbances, and causes higher speeds can be achieved when efficiency is not very important.
 

---

Todays, in addition to the economic aspect, paying attention to the social and environmental aspects has contributed to the sustainability of the supply chain. On the other hand, macro management attitudes for profitability are considered as a key component in the robustness of various industries, including citrus production. In this research, using a system dynamics approach we examine the effect of profitability on its related factors through a systematic view. For this purpose, a system dynamical model is presented and in order to validate it, its behavior is compared with historical collected observations. Statistical analysis indicates that the simulated model is adhered to its actual state. To further explore the Monte Carlo simulation is performed for sensitive variables, and finally, the proposed model is implemented under different employed scenarios. In different times of simulations have shown that several interventions such as research and development (R&D) can increase the citrus production and other key variables.