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...

as some definitions show, idioms are expressions whose meanings cannot be obtained from individual words. in every society, people use their own conceptions and feelings through different idioms and expressions. so every culture and society has their own idioms. some scholars proposed methods for translating idioms but baker’s strategies are very important and constructive. this research tried ...

the present study attempts to discover ideological differences between alcott’s novel (1868) named “little women” and its two persian translations. the first has been translated by morvarid and the second has been translated by obeidi. to this end, farahzad’s cda approach (2012) was used to analyze the ideology reflected in both translations by the two different translators. according to farahz...

this study was conducted to investigate the impact of podcasts as a learning and teaching tool on iranian efl learners’ motivation for listening as well as on their listening comprehension ability. the study also investigated the learners’ perception towards listening to podcasts and examined whether the learners were likely to accept podcasts. out of fifty-five intermediate learners studying e...

we have two part in this thesis, at first: the interaction of native calf thymus dna (ct-dna) with two anthraquinones including quinizarin (1,4- dihydroxy anthraquinone) and danthron (1,8- dihydroxy anthraquinone) in a mixture of 0.04 m brittone-robinson buffer and 50% of ethanol were studied at physiological ph by uv-vis absorption, florescence, circular dichroism spectroscopic methods, viscos...

abstract this research is about a longitudinal case study of english morpheme acquisition by a persian speaking child l2 learner of english (2 .9-3).the goal of this research has been discovery of the child ‘s ability in acquiring of english morphemes in a persian context while only one person (the child’ s father)has been talking to her.this child has also been exposed to english languag...

rivers and runoff have always been of interest to human beings. in order to make use of the proper water resources, human societies, industrial and agricultural centers, etc. have usually been established near rivers. as the time goes on, these societies developed, and therefore water resources were extracted more and more. consequently, conditions of water quality of the rivers experienced rap...

abstract the first purpose of this study was to investigate the effect of consciousness-raising (c-r) activities on learning grammatical structures (simple present tense in this case) by iranian guidance school efl learners. the second one was to investigate the effect of gender on learning the simple present tense through c-r activities and tasks. finally, this study aimed to investigate the ...

in this study, the relationship between teachers’ creative and critical thinking skills and their reflectivity in teaching was investigated. to this end, three questions were raised. these questions were intended to determine whether there was a significant relationship between teachers’ creative thinking skills and their reflectivity in teaching; whether there was a significant relationship be...

in this thesis, a new optically active poly(amide-imide) (pai) was synthesized by the indirect polycondensation reaction of the l-phenylalanine based diacid chloride and 4,4?-diaminodiphenylether in the presence of triethylamine in n-methyl-2-pyrrolidone. the formation of pai was confirmed by ftir, 1h nmr and elemental analysis. in next step, the surface of titanium dioxide (tio2) nanoparticles...