Decoupling of dynamic equations in robotic mechanisms has attracted many researchers in the recent years. This kind of Decoupling can be achieved by modifying the original kinematic structure through the use of counterweights attached to the moving links. Therefore, the robotic control becomes easier due to reducing the coupling disturbances. In this paper, different methods of Decoupling including the static balancing, Coriolis and centripetal force eliminating and dynamic balancing are introduced and their concepts are described based on Lagrange-Euler equations. The systematic adaptive approach is proposed for any open-chain planar robots whose links are connected by revolute joints. The method is tested for two-link and three-link manipulator. The results indicate that the system is fully-decoupled and simple classical approach is sufficient to control it.

A 65 years' woman was admitted in the operating room for discectomy surgery. The laboratory tests were normal, BP: 150/90, HR: 85; O2 Sat 95% in room air, with a history of hypertension, treated with losartan, with a normal ejection fraction. After admitting the patient, routine monitoring was established. The anesthesia machine was checked before anesthesia and the circuit system was connected correctly. . .

In this paper, a method is presented based on approximating the objective function and constrains in optimization problems in conjunction with Lagrange multiplier method. Besides, an algorithm is developed in this relation. Instead of linear or parabola terms employed in Taylor expansion to proceed cautiously with short step lengths, in the method presented here, an arc with constant curvature is used that makes it possible to proceed with relatively longer step lengths. For an n-dimensional optimization problem, the spheres are n-dimensional too. The radius of curvature and center of spheres can be determined at the tangent point between each function and its corresponding sphere. For the objective function, the parameters of sphere are determined at the reference point obtained by Lagrange equations, but for the constraints, first the reference point is returned to the surface of all the active constraints, then at the points on the constraints, the approximate parameters are calculated. Hence every computational step includes two parts: the determination of the reference point and returning it to the surface of active constraints. The criterion for returning to the active constraint is based on the shortest distance of the reference point from each of the active constraint, because the reference point is the output of optimization represented by Lagrange equations and so is the basis of the calculations. For returning the reference point to the active constraint, only one scalar variable is involved in the calculations. The introduction of the n-dimensional spheres both reduces the number of and simplifies the form of equations that need to be solved simultaneously to determine the optimum point and Lagrange multipliers at each optimization step, because the unknowns are now the Lagrange multipliers. This results in a significant reduction in computation time. Separating the design variables from Lagrange equations, the time of calculations may be saved for the loops of time-history analysis in the optimal seismic design.The method is applied to the optimization of two major parts of the lateral resistance systems, and the results are compared with those from penalty method. Considerable reduction of solution time is observed.Conclusions: The following remarks and conclusions are pertinent with regard to the formulation and the results presented in the paper:(1) The structural examples solved by the method presented here have also been solved by the exterior penalty method where both methods have provided exactly the same optimum solutions.(2) The proposed method does not depend on the convexity or the concavity of the constraints or the objective function, because the radius of sphere that indicates the curvature is directly utilized at each computational step.(3) Similar to the other optimization methods, the convergence behaviour and success of the proposed method depends on the starting point.(4) Separating the design variables from Lagrange equations, the time of calculations may be saved for the loops of time-history analysis in the optimal seismic design.(5) In this method, the criterion for the returning to the active constraint was utilized that is based on the shortest distance of the reference point from each of the active constraint (residual error), however, the methods based on Taylor expansion do not consider the minimization of residual error in every computational step.(6) Lagrange multipliers related to the constraints of lower and upper bound in the structural optimization problems can be decoupled from the others by the proposal method.(7) Though of the time of computation to converge, the final solution is of great importance and should be discussed in detail. The space limitation does not let a proper comparison of convergence behaviour between the presented method and the exterior penalty method. Hence this issue has been postponed to a follow-up paper, but just qualitatively, the presented method has shown the convergence faster.

Purpose: This study aims to locate the Customer Order Decoupling Point (CODP) based on supply chain typology using Make to Stock (MTS) and Make to Order (MTO) approaches for standard and innovative products in the Bushehr Polymer industry. Design/methodology/approach: Two mathematical models have been proposed that seek to minimize the costs of mass production, customized production, and transportation costs. To solve and simulate the models, MATLAB R2019a software has been used. Then, the indicators and requirements of pulling and pushing production management strategies have been extracted and calculated. Findings: The results indicated that the polymerization stages of the products include six stages: casting, molding, extrusion, bonding, cutting, and forming. Also, findings indicated that the optimal locating of (CODP) for polymer products is in the pushing production area and the cutting and molding stage. The determined optimal location indicated that the producer will have the lowest cost at this location for future production. It was inferred that the (CODP) point is based on the supply chain typology approach in the cutting and mass production area. Considering the nature of the linear model minimization of this research, the total cost index (C) indicated the lowest value in this area. Research limitations/implications: Due to the unique characteristics of the case study, the results of this research cannot be generalized to other industries. The covid-19 pandemic resulted in difficult access to data. The lack of research-related studies was another limitation. It was recommended to examine the position (CODP) in the LARG, sustainable and robust supply chain. Also, it was suggested to perform similar research in other industries and compare the results. Practical implications: Most of the company's products were located in the mass production area or standard products, hence, the company must maintain its profit margin by focusing and relying on this area. On the other hand, it should be noted that in the current economic situation, accepting separate orders outside the normal production conditions, not only does not benefit the company but also leads to the loss of the available resources spent on production lines. The supply chain typology of polymer products outlined that the values of the variables of the studied model in a period of 12 months can be calculated based on the point of separation of the customer order. Originality/value: This study removes additional and ineffective patterns in the literature and enumerates the necessary indicators to determine the point of CODP. The innovation aspect of this study is the typological approach of the polymer supply chain and identifying its six steps for determining the CODP point to manage cost and time.

Iran's electricity consumption and the relationship between electricity consumption and economic growth. For this purpose, by using the Logarithmic Mean Divisia Index approach and the non–oil real GDP, electricity consumption, energy consumption, and value-added of services, industry, and agriculture sectors, during 2001-2019, the electricity consumption was analyzed and the relationship between electricity consumption and economic growth was investigated based on Decoupling analysis. Based on the results of the electricity consumption analysis, during the entire study period, only the structure effect caused a decrease in electricity consumption. According to the periodic analysis results, before the implementation of the targeted subsidies law (2001-2010), the electricity consumption because of the intensity and structure effects was reduced, and due to the production, activity, and population effects increased; and after the implementation of this law (2011-2019), only the structure effect has led to reducing the electricity consumption, and it was increased due to four effects including activity, population, intensity, and production. Based on the Decoupling approach results, in the whole period, the situation of growing negative Decoupling, meaning the realization of economic growth at the cost of more increasing electricity consumption and environmental pollution, was dominant. Therefore, only actualizing the energy price is not effective in managing energy consumption, hence other energy efficiencies, economic, and environmental complementary policies must be implemented simultaneously.

A one-stage process for the bioleaching of copper from chalcopyrite has a low leaching rate compared to the conventional smelting, pressure oxidation, and roasting routes, thus reducing the economic viability of the process. It is, therefore, crucial to optimize the process and the associated rate-influencing factors to make it competitive with the traditional, proven technologies. A strategy to intensify the extraction process is the Decoupling of the chemical and biological stages, which expands the attainable region for the optimization of the variables. In the present research, the decoupled optimization of the chemical stage in the copper bioleaching of a chalcopyrite ore from the Iranian Sungun mine at East Azerbaijan was investigated. The factors affecting the rate of oxidation of chalcopyrite were determined and optimized with a (realistic) priori prepared bio-related medium. The optimized variables included the reaction temperature of 70 ° C, the ore particle size of 0. 65 μ m, pH of 1. 8 in the leaching solution, ferric ion concentration of 0. 1 of the stoichiometric value (0. 0022 mol per gram of chalcopyrite), and redox potential ~406 mV. Overall, the effect of redox potential on the extraction rate was the most pronounced such that the leaching rate was increased by about three times in the potential range of 401. 0– 405. 8 mV relative to other ranges.