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...

Investigating the process of evacuating people from a space such as a stadium, theater, or classroom is very interesting not only for managers and relief organizations but also for designers and researchers in the field of architecture. In this study, the evacuation process of a classroom with 42 students in emergencies was investigated by computer-based simulation using the A* algorithm and th...