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...

the purpose of this study was to examine the english language needs of medical students at tehran university of medical sciences . analysis of the needs took place for three groups: 320 undergraduate students, 30 postgraduate students and 20 university instructors. a triangulation approach to collect data was used in which a combination of the quantitative (using the questionnaires) and qualita...

the aim of this thesis is an approach for assessing insurer’s solvency for iranian insurance companies. we use of economic data with both time series and cross-sectional variation, thus by using the panel data model will survey the insurer solvency.

heuristics are often used to provide solutions for flow shop scheduling problems.the performance of a heuristic is usually judged by comparing solutions and run times on test cases.this investigation proposes an analytical alternative ,called asymptotic convergence ,which tests the convergence of the heuristic to a lower bound as problem size grows. the test is a stronger variation of worst cas...

the purpose of the present study was to investigate the effect of instruction through debate on male and female efl learners’ reading comprehension, to examine the differences between the performance of male and female participants on the five dimensions of cctst including analysis, evaluation, inference, deductive reasoning, and inductive reasoning, and to examine the differences between male ...

abstract al- muntazam by ibn al -jawzi is one of the greatest the book ancient book of texts on history of islam in the 6th century.it is very important one;because of including rare reports which are not found any where.in addition to historical reports,his outlook , in which embodies information on mythologies, milal wa nihal (sects and creeds), geography, and political, social and religiou...

murder of wife during adultery: if a man sees his wifes adultery with another man, he can kill both of them. and he is not guilty in this murder. this sentence is the opinion of imami jurists and numerous comments on this issue are the main reasons for the sentence. that is the opinion of the sunni jurists too. murder of wife and the stranger man are permitted. but in contrast to these views, ...

in recent years many researchers have been focused on interaction of small molecules with dna. dna is generally the primary intracellular of anticancer drugs, so the interaction between small molecules and dna can cause dna damage in cancer cells, blocking the division of cancer cells and resulting in cell death. the flavonoids are a large group of polyphenolic natural products that are widely ...

abstract deviation or in other words committing a crime is literally a social problem. this research that was conducted in 1389 and 1390 has tried to investigate the causes of crimes committed by young male inmates qazvin central prison and effective variables on their tendency to deviation. accordingly after collecting theoretical framework and offering theoretical model including both hirsch...

in this study, a simple, rapid and selective method was developed for the determination of dexamethasone. the proposed method is based on inhibitory effect of dexamethasone on the oxidation of orange-g by bromate in sulfuric acid media. the reaction was followed spectrophotometrically at 478.5 nm (?max). under optimum experimental conditions, (72.6 ?mol l-1 of orange-g, 0.76 mol l-1 of h2so4, 0...