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...

sange siyah dam is located two kilometers down the kabod khani village. the environ of ghorrve city in kurdestan province. this is an clay core dam. in this dam instrumentation is performed in three section and consist of electrical piezometers, total pressure cells, settlement cells and so on. the main objective of instrumentation is to control the behavior of dam body and foundation, end else...

in the present work, a simple and sensitive method was developed for determination of morphine and heroin using gold nanoparticles as resonance rayleigh scattering (rrs) and colorimetric technique’s probe. synthesized gold nanoparticles by sodium citrate reduction method have a negative charge layer on their surfaces because of self-assembled citrate anions on their surface. binding of morphin...

the purpose of this study was to examine the status of supervision on departments’ heads at ferdowsi university of mashhad (fum) and realize some applied themes to provide a fit model for supervising departments’ heads in fum. the method was case study under a research category aimed for applied one. using purposive sampling, interviews were conducted with top fum managers, head departments, an...

abstract cooperative learning refers to small groups of learners working together as a team to solve a problem, complete a task, or accomplish a common goal. in a cooperative environment one’s success is directly related to the success of other members because the focus on the individual shifts towards the group. to test the effectiveness of the method, using jigsaw technique, a study was cond...

abstract: since sugar consumption is directly related to diabetes and other illnesses such as obesity, the issue that will most heavily dominate the health food market is blood sugar management and low glycemic foods. using calcium chloride and gums such as sodium alginate and low ester pectin as thikener and a high-potency sweetener aspartame we were able to reduce sugar content of sour cherry...

flow in natural river bends is a complex and turbulent phenomenon which affects the scour and sedimentations and causes an irregular bed topography on the bed. for the reason, the flow hydralics and the parameters which affect the flow to be studied and understand. in this study the effect of bed and wall roughness using the software fluent discussed in a sharp 90-degree flume bend with 40.3cm ...

in the new age, in regard to human success in education in the globalizing world, one can consider english proficiency and individual differences as two important issues. in efl settings, reading skill plays an important role in education. it seems that using multiple intelligences theory in efl classes which values individual differences by tapping different intelligences, can be rewarding. as...