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...

now-a-days graphic design plays a major role in influencing culture, society, business, and customers, in such a way that one could look upon every individual as a potential customer. graphic designers seek to identify customers needs and find an intelligent solution for them. correct identification and understanding of those needs is the first step towards achieving ones goals. marketing knowh...

we describe here a suitable approach for the synthesis of n-unsubstituted monocyclic b-lactams under mild reaction conditions by the annelation of imines with substituted acetylchlorides. in this method the reaily available phtalimidoacetyl chloride were allowed to react with - dibenzylideneiminotoluene (hydrobenzamide) in the presence of an equimolar amount of triethylamine in refluxing toluen...

the present study was concerned with exploring the frequency and linguistic focus of corrective feedback types given by novice and experienced female teachers working with young learners and compared it with those of elementary classes for adults. moreover, it aimed at measuring learners’ acknowledgement of teachers’ corrective feedback in the form of uptake in relation to linguistic coverage o...

today the image of a permanent skeletal space of cities affected by some forces or mechanisms is put in time with social-economic development and while imposes a new face and perspective to physical anatomy of cities, and prepares field to changes in content and social- economic structures of cities too. simultaneously with quitting villages in order to settle in cities by villagers, the phen...

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...

in this investigation the effect of external field on the electron density of nanostructures of cds, cdse, cdte, gaas and polymeric structure of three, four, five and six units of cds as a kind of nanosolar cells has been studied theoretically. as modeling this system in nanodimension, molecular structures has used. specific properties of molecular structures permit us to consider different sym...

with the increasing population and the need for more food, as well as with the development of science and technology, human approach to unnatural and often chemical inputs to increase agricultural production has been a great expansion and problems such as increased cancers, chronic diseases has created environmental pollution. implementation of organic organic is a solution to these problems . ...

this experimental study has been conducted to test the effect of oral presentation on the development of l2 learners grammar. but this oral presentation is not merely a deductive instruction of grammatical points, in this presentation two hypotheses of krashen (input and low filter hypotheses), stevicks viewpoints on grammar explanation and correction and widdowsons opinion on limited use of l1...

1. to determine whether difference in birth body mass influenced growth performance in pipistrellus kuhlii we studied a total of 12 captive-born neonates. bats were assigned to two body mass groups: light birth body mass (lbw: 0.89 ± 0.05, n=8) and heavy birth body mass (hbw: 1.35 ± 0.08, n=4). heavier body mass at birth was associated with rapid postnatal growth (body mass and forearm length) ...