Applications of mobile manipulators over uneven terrain, for doing complex tasks autonomously, will be increased. In many cases, robot control algorithms and path planning methods ignore some characteristics of a robot and its environment. Thus they have a limited performance over uneven terrain. Therefore, robot instability that leads to roll over is not an unexpected matter. In this paper, mobile manipulator rollover recovery, by using a manipulator and a vision system, is presented. A genetic algorithm and a quasi static model are used to find the optimal recovery process. The criterion of optimization is the power consumption of actuators of the mobile manipulator. The power consumption depends on the path that the end effectors negotiate over the surface. To estimate the surface curve, a human like stereo vision is used. Finally, simulation results are presented.

The present paper is to examine European rollover standard (ECE66) on O457 bus, using computer simulation method. Due to the huge size of the analyzed structure and unavailability of supercomputers and also according to the rollover regulation, the equivalent method, i.e., body section rollover test is selected. Also, because of impossibility of real test, the simulation results have been qualitatively compared with the existing experimental results. The extracted results show that deformation occurs mainly in the pillar-to-floor and pillar-to-roof joints, while the roof and chassis have small deformations. As the deformations in the body were greater than the standard level and the bus failed the test, suggestions were made to increase the body strength. The suggestions are based on the available capabilities and limitations of the production process.

Modeling of a Sport Utility Vehicle as it moves on two wheels studied in this paper. Our major purpose concentrated on developing a general criterion to specify rollover threshold. First, model of vehicle as it sustained on two wheels derived that its results used to develop rollover threshold of Sport Utility Vehicles. In addition, these results could be valuable to design new controllers, which are able to prevent rollover at the best state of vehicle dynamics. After vehicle modeling, appropriate model for tire forces and moments picked up from the most related and available references. Then validation accomplished as final part of modeling section. Stability of presented model studied as an important part of this paper. In order to specify rollover threshold as vehicle moves on two wheels, steady-state equations of motion used and based on steady state analyses a new criterion proposed. Next, by designing some maneuvers, simulations accomplished to show applicability of proposed criterion at different situations. As conclusion, presented criterion is more implementable and efficient than other proposed model for rollover threshold and can prospect rollover threshold at various steering angles and longitudinal speeds as model inputs.

In this paper, a method based on binary-coded genetic algorithm is proposed to explore an optimization method, for obtaining an optimal elliptical tank. This optimization method enhances the rollover threshold of a tank vehicle, especially under partial filling conditions. Minimizing the overturning moment imposed on the vehicle due to c.g. height of the liquid load, lateral acceleration and cargo load shift are properly applied. In the process, the width and height of tanker are assumed as constant parameters. Additionally, considering the constant cross-sectional area, an optimum elliptical tanker of each filling condition is presented to provide more roll stability. Moreover, the magnitudes of lateral and vertical translation of the cargo within the proposed optimal cross section under a constant lateral acceleration field are compared with those of conventional elliptical tank to demonstrate the performance potentials of the optimal shapes.Comparing the vehicle rollover threshold of proposed optimal tank with that of currently used elliptical and circular tank reveals that the optimal tank is improved approximately 18% higher than conventional one.

The main reasons of injury and death all over the world and especially in Iran are mainly run off road, roll over, and crushing with the fixed objects at the roadside. This is why the road safety engineers should pay special attention to roadside hazards, otherwise as a consequence the number of fatalities would increase consequently although exact data are not available regarding this issue in Iran, evidence shows that a large number of dangerous road accidents in Iran is due to vehicle run-off-the road. Nowadays introduction of a model which would have the capability of anticipating the number of run-off-roads would assist the engineers to evaluate the number of run-off in order to carry out a proper incident management In this research a model has been introduced that is capable of anticipating the number of ROLL-OVER due to run-off-roads in each direction of roads. The effect of each parameter has been thoroughly investigated on the roadside safety, and finally its effects on the number of accident occurred in Iranian Roads.In this research, two models for prediction of vehicle run - off -road were evaluated. For evaluating the differences between the obtained amounts by selected models and the real rates for the run off roads, the X test was used. This test was chosen due to the quantitative characteristics of accidents (which are usually numbered) and the real amount of run-off- road also due to the number of accidents in each direction of roads and the fitness of theoric models. The following model had the most realistic similarities with the predicted rates and therefore was chosen for utilization. This model is shown below:ADT/1000000) × exp (bst-(0.04×ADT/I000)+lnf + 0.12HC+0.05VG) ×E= (365 Where:E = expected number of road side encroachment per kilometer annually.ADT = average annual daily traffic (in number of vehicles) from 1000 to 12000.B st = state constant with a default value of 0.45 for those areas (or states) where rural two- lane roads data are available, it is recommended that B st be estimated as the natural log of the run-off-road accident rate for road segment with low ADT (e.g., 2000) that are relatively straight (e.g., horizontal curvature < 3 degrees) and level (e.g., vertical grade < 3%).Lnf= 0, 0.20, and 0.44, respectively, for road segments with 3.6m 3.3m 3 m ft wide lane.HC = horizontal curvature) for 0 to 30 degree.VG= vertical grade (in percent) from 0 to 10percent.Using the above model it would be possible to predict the total run off road accidents. On the other hand, the main objective of this research is estimating the amount and percentage of rollover due to run off roads. Due to this fact it was tried to consider an index namely Roadside Hazard Index. By using this index the above objective may be achieved.Using this index which is always> 1 it would be possible to estimate the rollover due to run off roads, as follows: The road side safety condition is depended to RH index.RH = the length of risk ratio to the length of axis:RH =lH/LTherefore by considering RH index in choosing the model, the number of rollover due to Run-Off-Roads is resulted as follows: ADT/l 000000)×(RH) xexp (bst-(0.04xADT/1000)+lnf + 0.12HC+0.05VG)×E= (365 The roads network including 5 axes was chosen and based on the road side accidents occurred in this direction of roads, the amount of index was estimated. This model was finally designed by comparing the result of the above model and the real amount of it (due to X2 test).Conclusions of this research project are as follows:It is considered that 30 percent of road accidents in the whole country are caused by run off vehicles from roads and about half of this 30 percent are concluded to damaging of vehicles. Comparing the predicted amount to the model and the real numbers in the year 2004 shows that the difference between models is about 26 percent in average. At the Gonabad network (in north east of Iran), investigations showed that in this network, the non standard and critical road side gradients as the road side hazards and cause the rollover of the vehicles from the road. Considering the conditions of the country it may be concluded that the Roadside Hazard Index for the whole network is 41%. By other words it is said that the 41%of the total run off road is resulted to rollover.

This study aimed at indexing crash worthiness capability of 20 most frequently used car brands in Iran. Since rollover crashes are one of the most important crash types due to their high impact on crash severity, they were chosen as the case study of the current research. In this regard, the data of 42, 118 rollover crashes of urban and rural roads of Iran which occurred from 2009 to 2012 was used. Binomial Logistic Regression Model was applied in order to define crash worthiness index based on the driver’ s injury status. Although the results revealed that Proton and Hyundai/Light truck had the best performances in rollover crashes, no special trend was found regarding to crash worthiness capability of foreign and Iranian brands. The results of motorcycle rollover crashes were also included for model validation.

Background & Aims: Preeclampsia is characterized by hypertension, generalized edema, and proteinuria during pregnancy. It is one of the maternal morbidity especially in developing countries and considered the major cause for pre-term delivery, intra uterine growth restriction and prenatal death. Its prevalence is estimated about 5%. With regard to the serious complications of preeclampsia, further investigations are needed to prevent it. The aim of this study was to evaluate the effects of low-dose asprin in prevention of preeclampsia in pregnant women at high risk. The current literature suggests that the use of low-dose asprin during pregnancy is safe.Materials & Methods: Blind randomized study was conducted on 60 pregnant women with positive roll over test (ROT) in 28 weeks of gestation. One group received 60 mg asprin per day, the second group received placebo. Women with history of background disease were excluded from the study in order to control the confounding factors. Two groups regarding their age were matched. Data recorded in relevant checklists and then analyzed by drawing diagrams and tables, determining K square and Pearson correlation.Results: In this study the signs of preeclampsia in asprin group were 19.4% and in placebo group were 50%, in other words the difference was statistically significant (R= -0.03, PV=0.01). There was no significant difference between use of asprin and severity of pre-eclampsia (PV= 1%). Preeclampsia in nullipara women had many signs in comparison with multipara women but without significant difference, (R=0.2, PV=0.12). The effect of asprin in decreasing preeclampsia was most effective in women with 30 years of age and above compared to lower age (chi2=7.2, PV=0.02).Discussion: In this study we found out that low- dose asprin prevents pre-eclampsia in women at high risk especially in women above 30 years of old which could be an increasing factor. A study which was carried out in India indicated no adverse maternal complication due to asprin and also the incidence of preeclampsia was lower in women received 60 mg of asprin per day. It is recommended to use low dose asprin for prevention of preeclampsia in high risk cases and to confirm it in further investigation with larger sample sizes.