This article seeks to determine a two-link robot’s maximum dynamic load carrying capacity (DLCC) in a point-to-point motion by applying torque limits on its joints. The method presented here is based on open-loop optimal control and it uses indirect approach to derive optimality conditions. The Pontryagin's minimum principle (PMP) has been used to obtain the optimality conditions that it leads to a two-point boundary value problem (TPBVP). Two sets of differential equations and one algebraic equation are obtained which are solved by using BVP4C command in MATLAB software. In this paper, a robot’s DLCC in a point-to-point motion has been determined in two ways. In the first case, no torque limit constraint has been considered in the Hamiltonian function for the joints; while in the second case, this constrain has been incorporated into the Hamiltonian function and it appears in the equations obtained by using PMP which causes this constrain to show up in the state and costate equations. In both cases, simulations have been performed. The simulation results indicate that when a torque limit constraint is considered in the Hamiltonian function, the angular positions and velocity of robot’s joints are the same, but the torque of joints are different

Present study carried out to determine the effect of four weeks vitamin C supplementation with intermittent exercise on serum anti-oxidation capacity and maximal oxygen consumption in inactive women. 40 healthy inactive women after the aerobic capacity detection were randomly set in four equal groups of recipients of supplemental vitamin C (1000 mg daily for two meals a day for four weeks) (CG), placebo (lactose) (PG), interval training with placebo (three days a week, with 70% of maximum heart rate, received a five point nine minutes, four minutes passive rest) (P+TG) and interval training with vitamin C (C+TG). Initial blood sample obtained at baseline before starting supplementation and second blood sample was taken after completion of supplementation and intermittent exercise. Normal data were investigated by using one-way analysis of variance and post Bonferroni test, if significant, T in the five percent level of significance using SPSS version 22. Results: Four weeks of vitamin C supplementation on serum anti-oxidation capacity of inactive women has a significant effect (P = 0.04). But has no significant effect on maximal oxygen consumption (P = 0.11). The four-week interval training has a significant effect on serum anti-oxidation capacity (P = 0.001) and oxygen consumption (P = 0.001) on maximum inactive women. Four weeks vitamin C supplementation with intermittent exercise on serum anti-oxidation capacity (P = 0.001) and oxygen consumption (P = 0.0001) has a significant effect on inactive women. Conclusion: The results of this study also suggest that three days in a week, with 70% of maximum heart rate, received five nine minutes session, with four minutes inactive rest significantly increased serum anti-oxidation capacity and maximal oxygen is consumed. In addition, the four-week vitamin C supplementation, with promotion of serum anti-oxidation play an important role in the prevention of adverse changes in oxidative stress, membrane damage and loss in peak muscle damage after eccentric activity

In the current paper and approach to convert an optimized developed artificial neural network (ANN) based model is presented to estimate the probability analysis of nonlinear seismic response spectra for earthquake acceleration records. The specified area in this study is located in Tehran, the capital city of Iran which is considered as a high seismic risk zone. More than 560 ANN topologies have been tested using a developed Matlab computer code with capability of using from several different training algorithm as well as various activation transfer functions. A total of 113 data sets from the executed in-situ and laboratory tests as well as earthquake records and geophysical investigations were used as input values of the ANN with applying the back propagation algorithm. The performance of proposed model with ability in solving the related problem to various types of data and mathematical simplifications, has been controlled and analyzed using statistical, mathematical and graph analyses criteria as well as sensitivity analysis. The ANN results present acceptable concordance with the actual seismic response spectra preserving a minimum error between the actual and the estimated spectra using ANN.