due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...

abstract target-oriented approaches to translation studies are regarded as recent theories of translation. one of the most famous theories among these approaches is descriptive translation studies presented by toury (1995). this theory gives a new dimension to translation studies and gives importance to the descriptive rather than prescriptive studies. it also identifies three sets of transla...

this thesis examines the significances and implications of inflicted physical pain in waiting for the barbarians (1980) by john maxwell coetzee (1940 - ). the researcher tries to show how body becomes a site for exercising violence. in this way, the government’s representatives turn bodies of the barbarians into blank pages through torturing in order to create the truth of the empire. in this p...

the study of air infiltration into the buildings is important from several perspectives that may be noted to energy and design of hvac systems, indoor air quality and thermal comfort and design of smoke control systems. given the importance of this issue, an experimental and numerical study of air infiltration through conventional doors and windows has been explored in iran. to this end, at fir...

the present study aimed to investigate the possible effects of focused highlighted error feedback on grammatical accuracy of writing among iranian intermediate efl learners. after selecting 52 homogenous participants from among 70 university students attending azad university of rasht and randomly dividing them into two intact groups of 26 students, the researcher exposed the participants of th...

adolescents and young adults and their problems is an issue whose importance is obvious to anyone because youth are the founders of our countrys future and requires proper planning to be on leisure. given the importance of leisure,this study to investigate needs assessment and planning how adolescents and young adults spend their leisure time in urban of case study of high school girls and boys...

implicit and unobserved errors and vulnerabilities issues usually arise in cryptographic protocols and especially in authentication protocols. this may enable an attacker to make serious damages to the desired system, such as having the access to or changing secret documents, interfering in bank transactions, having access to users’ accounts, or may be having the control all over the syste...

the application of e-learning systems - as one of the solutions to the issue of anywhere and anytime learning – is increasingly spreading in the area of education. content management - one of the most important parts of any e-learning system- is in the concern of tutors and teachers through which they can obtain means and paths to achieve the goals of the course and learning objectives. e-learn...

introduction acetic acid bacteria are large group of obligate aerobic gram negative bacteria with the ability to oxidize ethanol to acetic acid (1). they are widely distributed in natural habitats and classified in family acetobacteraceae. members of this family are useful in industrial production of vinegar(2). acetic acid bacteria (aab) can use substrates as glucose, ethanol, lactate or glyc...

abstract the present study deals with a comparison between reactive and pre-emptive focus-on-form in terms of application and efficiency. it was conducted in an intermediate english class in shahroud. 15 male learners participated in this research and their age ranged from 18 to 25. a course book, new interchange 3, and a complementary book were used. every session the learners gave lectures o...