The growth of environmental awareness and more robust enforcement of numerous regulations to reduce greenhouse gas (GHG) emissions have directed efforts towards addressing current environmental challenges. Considering the Vehicle Routing Problem (VRP), one of the effective strategies to control greenhouse gas emissions is to convert the fossil fuel-powered fleet into Environmentally Friendly Vehicles (EFVs). Given the multitude of constraints and assumptions defined for different types of VRPs, as well as assumptions and operational constraints specific to each type of EFV, many variants of environmentally friendly VRPs (EF-VRP) have been introduced. In this paper, studies conducted on the subject of EF-VRP are reviewed, considering all the road transport EFV types and problem variants, and classifying and discussing with a single holistic vision. The aim of this paper is twofold. First, it determines a classification of EF-VRP studies based on different types of EFVs, i.e., Alternative-Fuel Vehicles (AFVs), Electric Vehicles (EVs) and Hybrid Vehicles (HVs). Second, it presents a comprehensive survey by considering each variant of the classification, technical constraints and solution methods arising in the literature. The results of this paper show that studies on EF-VRP are relatively novel and there is still room for large improvements in several areas. So, to determine future insights, for each classification of EF-VRP studies, the paper provides the literature gaps and future research needs.

Retrieval of a broken knife blade unintentionally buried in the intervertebral disc space can be a challenge and even impossible to achieve, despite hours of attempts. In the second surgery, the retained blade in the disc space is traditionally removed via the anterior approach. The transforaminal corridor might be a simple alternative route that does not carry inherent difficulties and risks associated with the anterior corridor. Eventually, removal of a broken blade via this route does not require the collaboration of an access surgeon.

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Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is developed with regard to the surface friction limitations. By taking into account the physical limitation of the surface in the stabilization trend, a more advanced level of reliability is achieved that provides higher functionalities such as push recovery on low-friction surfaces and prevents the stabilizer from overreacting. The discrete event-based strategy consists of modifying the step length and time period at the beginning of each footstep in order to reestablish stability necessary conditions while taking into account the surface friction limitation as a constraint to prevent slippage. Adjusting footsteps to prevent slippage in confronting external disturbances is perceived as a novel strategy for keeping stability, quite similar to human reaction. The developed methodology consists of rough closed-form solutions utilizing elementary math operations for obtaining the control inputs, allowing to reach a balance between convergence and computational cost, which is quite suitable for real-time operations even with modest computational hardware. Several numerical simulations, including push recovery and switching between different gates on low-friction surfaces, are performed Erfan Ghorbani

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