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 governing was disorganized for years, when mongols attached to iran and it caused to clearing way for interference of mongols princes. dispatching of holaku to the west culminated in establishing iilkhanan government. holakus activities in destruction of abbaasis government and activities which shows his staying in iran, made force oulus juji to comparison against iilkhanis gover...

Introduction: The purpose of this study was to identify the missions and goals, content, tools, and functions of faculty development centers in world-class universities. Method: This study was conducted using qualitative approach and comparative comparison method and content analysis. Data were collected using the Times 2020 ranking site and sites of centers at world-class universities rated be...

the study of air infiltration into the buildings is important from several perspectives that may be noted to energy and design of hvac systems, indoor air quality and thermal comfort and design of smoke control systems. given the importance of this issue, an experimental and numerical study of air infiltration through conventional doors and windows has been explored in iran. to this end, at fir...

Background and Aim: There is a close and effective relationship between physical fitness and the efficiency of the respiratory system, so it is considered one of the essential factors for success in organizational missions and plays an important role in preventing respiratory problems, especially in cold and mountainous conditions; So, the aim of this study is to investigate the effects of 8 we...