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 the balvard metamorphic assemblage (bma) crops out at the northeastern margin of the southeastern part of the sanandaj-sirjan zone (ssz) in contacting to the dehshir-baft ophiolitic mélange. this location prepared a special situation to resolve some of the complicated tectonic problems of this part of iran. petrology, micro-tectonics and satellite image investigation were carried out ...

abstract this study is an attempt to determine the effect of nano- technology education on science lesson for fifth grade in primary school in the city of kermanshah. this research is experimental and is conducted in the from of pre-test and post- test for the control group. an achievement test was administered to determine the rate of learning in the students. the research is an applied one. ...

Introduction: Addiction is a complex disease characterized by compulsive behaviors, irresistible temptations, drug behaviors, and persistent consumption, even when there are many negative consequences for the individual. Objective: The purpose of this study was to determine the role of self-concealment and alexithymia in predicting resistance to change of drug users. Material and Methods: This ...

this study attempts to investigate the effect of peers’ revision in comparison to that of the teacher, and whether peers’ comments and teachers’ comments facilitate students’ revision? if yes, which one is more effective? also attempts have been made to see which aspects of language are more highlighted by peers versus teachers when commenting. besides, it is investigating the student’s attitud...