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...

nowadays, air pollution is a global problem that has had significant growth by technology development, population growth andindustrial development. industrial development brought natural resources deterioration, more manufacturing products, and more environmental pollutants. if pollutant won’t be controlled, human-being and wildlife will face the critical risks. significant release and critical...

investigation the archetype of mother can help the reader to understand poes works, especially his fiction, better, if not fully. motivated by internal and external drives to get into the universe in its manifold form poe was impelled to art and, from various modes of art, to symbolism. how much was poe successful to produce works of art has been a matter of dispute among critics. however, ther...

colonialism is an important factor in cultural production and many of cultural constructs all over the world. english and english language teaching are at the center of the contemporary world. postcolonial literature, the genre achebe exercised, is a kind of historical text which has become central to different debates and criticisms. in this thesis, different elements related to the colonial...

tennessee williams (1911-1983), the modern american dramatist, had his own unique school of dramaturgy. the dramas which he depicted are populated by characters who are lonely, desperate, in anxiety, alienated and in one word lost. they face challenges which they may overcome or not, through the choices they make. all these moods and conditions are clearly seen and explained in the theory of ex...

in the past couple of decades sociocultural theory of sla and its implications in efl contexts have attracted attentions of research circles worldwide and aroused some controversies. firth and wagner (1997) have questioned the principles of the cognitive view which gives importance to mental constructs in favor of sociocultural view which highlights social and contextual constructs. but if soci...

deployable scissor type structures are composed of the so-called scissor-like elements (sles), which are connected to each other at an intermediate point through a pivotal connection and allow them to be folded into a compact bundle for storage or transport. several sles are connected to each other in order to form units with regular polygonal plan views. the sides and radii of the polygons are...

abstract: about 60% of total premium of insurance industry is pertained?to life policies in the world; while the life insurance total premium in iran is less than 6% of total premium in insurance industry in 2008 (sigma, no 3/2009). among the reasons that discourage the life insurance industry is the problem of adverse selection. adverse selection theory describes a situation where the inf...

this study focuses on jane austens representation of her heroines in two of her novels: pride and prejudice, and mansfield park. i have concentrated only on a single idea: how jane austen takes her heroines through a course of psychogical reformation to which almost everything else in her novel is subsidiary. although i have discussed only pride and prejudice, we can trace austens carefully pla...