H. N. Rahimi

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—We present an open-loop optimal control approach to treat the optimal trajectory planning problem for nonholonomic wheeled mobile robots in the presence of kinematics and dynamics of both wheels and manipulators. This method is based on the Pontryagin's minimum principle that by providing a two point boundary value problem is solved the problem. The(More)
BACKGROUND Cicer arietinum (Chickpea) is one of the most important harvests in the world with high nutritional value. Lack of essential oils in the seeds of Chickpea is an advantage in search for drug-like molecules with less toxicity. We evaluated anticonvulsant effect of C. arietinum in common animal models of epilepsy. METHODS Dichloromethane extract(More)
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