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...

Celestial positioning has been used for navigation purposes for many years. Stars as the extra-terrestrial benchmarks provide unique opportunity in absolute point positioning. However, astronomical field data acquisition and data processing of the collected data is very time-consuming. The advent of the Global Positioning System (GPS) nearly made the celestial positioning system obsolete. The n...

abstract biometric access control is an automatic system that intelligently provides the access of special actions to predefined individuals. it may use one or more unique features of humans, like fingerprint, iris, gesture, 2d and 3d face images. 2d face image is one of the important features with useful and reliable information for recognition of individuals and systems based on this ...

in chapter one we will describe definitions and preliminary results to provide the global context of our own results to be presented in detail in the subsequent chapters in chapter two we consider degree-one maps of the circle and we study their rotation set. our main result in this chapter says that if the map is topologically mixing then its rotation interval is nontrivial (that is, not reduc...

the significance of the study of deixis was then mentioned. the purpose of the present study from the outset was to provide a comprehensive overview of all kinds of deixis in persian, describing and defining each in true while considering them structurally and semantically. chapter two consisted of two main parts. a review of the english studies in this respect, besides presenting persian liter...

Inspection of power transmission lines using classic experts based methods suffers from disadvantages such as highel level of time and money consumption. Advent of UAVs and their application in aerial data gathering help to decrease the time and cost promenantly. The purpose of this research is to present an efficient automated method for inspection of power transmission lines based on point c...