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...

on this project we try to calculated power of hydrogen on dycarbonil compound in different ways ; the first way is shoster way , for sain power of hydrogen notice the different power between central conforms on it and main conform that’s didn’t have hydrogen joint . or in other way different of energy between open and close form. second way, is average way? this is for way that studied conf...

in this thesis, a structured hierarchical methodology based on petri nets is used to introduce a task model for a soccer goalkeeper robot. in real or robot soccer, goalkeeper is an important element which has a key role and challenging features in the game. goalkeeper aims at defending goal from scoring goals by opponent team, actually to prevent the goal from the opponent player’s attacks. thi...

legal establishment of court is the birth of social life; each person should define him/herself against others offence or violation. when a society forms and the legal character appears, the thought of society refers to a person name prosecuting attorney who is the president of the court for defending his/her rights. prosecuting attorney remindterms such as court, crime and punishment. accordi...

abstract while task-based instruction is considered as the most effective way to learn a language in the related literature, it is oversimplified on various grounds. different variables may affect how students are engaged with not only the language but also with the task itself. the present study was conducted to investigate language and task related engagement on the basis of the task typolog...

the central purpose of this study was to conduct a case study about the role of self monitoring in teacher’s use of motivational strategies. furthermore it focused on how these strategies affected students’ motivational behavior. although many studies have been done to investigate teachers’ motivational strategies use (cheng & d?rnyei, 2007; d?rnyei & csizer, 1998; green, 2001, guilloteaux & d?...

the following null hypothesis was proposed: there is no significant difference between the efl students listening comprehension development receiving pictorial cues and those receiving no cuse. to test the null hypothesis, 52 male and femal freshmen students of medicine studing at iran university of medical scinces were randomly selected from a total population of 72 students. to ensure that th...

چکیده : نظام انتخاباتی قواعد و چار چوب های به رسمیت شناخته شده ای است که بیانگر چگونگی تبدیل آرای مردم به مناصب و پست های سیاسی است. این نظام انتخابات باید به گونه ای عمل کند که نتیجه آن فراهم شدن مکانیسم و ساز و کار مطلوب و مناسب برای برگزاری انتخابات سالم و رقابتی باشد. به نظر می رسد نظام انتخاباتی جمهوری اسلامی ایران دارای ضعف ها و نواقصی است که به سبب آن ها نمی توان انتخابات مطلوب را برگزا...

one of the most important factors in study of project’s , is the study of environmental opportunities factors the permanent study of environmental opportunity factors . the study of permanent environmental changing and knowing golden threats’ cooperate with possible threats and at the result in structure forming and future skeleton of organization has a vital effects . the petrochemical industr...

the present paper deals with criminal issues. for example, legal injunction on the necessity of returning a deposit has a legal nature and legal injunction on the punishment of those who breach the trust has a criminal nature. existing social issues are the basis of classification of some instances into the issue, some of which are based on variation and others on quality. therefore, the motiva...