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...

in this project, 4,4?-methylenebis(3-chloro-2,6-diethyl trimellitimidobenzene) as a diacid, was prepared by the reaction of trimellitic anhydride (tma) with 4,4?-methylenebis(3-chloro-2,6-diethylaniline) (mcdea). the novel poly(amide-imide) (pai) was synthesized from the reaction of 4,4?-methylenebis(3-chloro-2,6-diethyl trimellitimidobenzene) as a diacid with mcdea under green condition using ...

the author intend to by studying the historical causes of the appearance of the novation in the west and explanation of its legal nature from past to present of french law, proves on the one hand that the novation does not extracted from the french civil code and in the shiite jurisprudence with quite similar terms even before the enactment of iranian civil code, was considered by the shiite su...

abstract due to the growing importance and influence of the self of the teacher in the field of educational and cognitive psychology, the current study intended to investigate the relationship between three teacher qualities and characteristics, i.e. teacher self efficacy, self regulation, and success as perceived by their learners. the study aimed at finding whether teacher self efficacy an...

abstract this research is about a longitudinal case study of english morpheme acquisition by a persian speaking child l2 learner of english (2 .9-3).the goal of this research has been discovery of the child ‘s ability in acquiring of english morphemes in a persian context while only one person (the child’ s father)has been talking to her.this child has also been exposed to english languag...

the ability to speak two languages in the world is a remarkable achievement. there is a good reason to believe that bilingualism is the norm for the majority of people in the world because 70% of the earth’s population are supposed to be bilingual or multilingual. various investigations have shown that the native language impacts foreign word recognition, and this influence is adapted by the de...

abstract i the purpose of this study was to launch a thorough investigation concerning the possibility of differing orientations to the writing proficiency construct by native and non-native english speaking teacher raters. it mainly revolved around the international english language testing system (ielts) that is widely administered and employed as a measure of general proficiency in englis...

in this thesis, ‎‎using‎‎ ‎concept‎s‎ ‎of‎ ‎wavelet‎s‎ ‎theory ‎‎‎som‎e‎ ‎methods‎‎ ‎of‎ ‎th‎e ‎solving‎‎ ‎optimal‎‎ ‎‎con‎tr‎ol‎ problems ‎(ocps)‎‎. ‎g‎overned by time-delay systems is investigated. ‎th‎is‎ thesis contains ‎tw‎o parts. ‎‎first, the method of obtaining ‎o‎f ‎the‎ ‎‎ocps‎ in time delay systems by linear legendre multiwavelets is ‎ ‎presented‎.‎‎‎‎ the main advantage of the meth...

this study is an outlook of iranians religious practices and customs in eras such as nasser one. it attempts to answer the main question, "religious practices and ceremonies in the society during naseri ruling" and other subsidiary questions with scientific and historical theories. iran was a traditional and religious community . people abided by their religious practices and duties within reli...

this thesis attempts to study the representations of the third-world intellectuals in three fictional works by the british-educated trinidadian nobel-winner v. s. naipaul: the mimic men, a bend in the river, and magic seeds. the first one recounts the story of ralph singh’s sense of alienation, his experiences as a colonial politician, and his struggle to give order to his disorderly world thro...