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...

drought is transient phenomenon , slow , repetitive and integral part of the climate of each region. drought begins with a substantial reduction in precipitation over the long-term average rainfall and over time, reduced soil moisture and surface and ground water resources will continue to decrease. this phenomenon is the most important in bakhtegan basin because of its importance in strategic ...

from its emergence till present time marxist principles has undergone great changes since their promulgation by marx. many theorists and thinkers set at rectifying marxist tenets and introducing those of their own while others advocated its main concepts and attempted at improving them. among marxist philosophers who had an intensive study of marxs ideology, is louis althusser whose reflections...

in this thesis, first the notion of weak mutual associativity (w.m.a.) and the necessary and sufficient condition for a $(l,gamma)$-associated hypersemigroup $(h, ast)$ derived from some family of $lesssim$-preordered semigroups to be a hypergroup, are given. second, by proving the fact that the concrete categories, semihypergroups and hypergroups have not free objects we will introduce t...

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...

any change in the refractive index of a laser active medium can lead to serious degradation of beam quality, laser beam modes, laser performance and variation in the intensity distribution. alteration in the refractive index of laser active medium is especially notable in high power lasers. it is clear that in the laser beam production, the pumping agent induces a great amount of heat which...

today, persian poetry is of great importance to many scholars around the world. the interest and attention of various cultures toward such a fine literature has given quite a good motivation for a comparative study. the major concern of the study is to investigate how nature is depicted through the works of the great english poet, william wordsworth (1770-1850) and the outstanding contemporary ...

abstract: mineral scaling in oil and gas production equipment is one of the most important problem that occurs while water injection and it has been recognized to be a major operational problem. the incompatibility between injected and formation waters may result in inorganic scale precipitation in the equipment and reservoir and then reduction of oil production rate and water injection rate. ...

terms of address as an important linguistics items provide valuable information about the interlocutors, their relationship and their circumstances. this study was done to investigate the change route of persian address terms in the two recent centuries including three historical periods of qajar, pahlavi and after the islamic revolution. data were extracted from a corpus consisting 24 novels w...

chapter one is devoted to a moderate discussion on preliminaries, according to our requirements. chapter two which is based on our work in (24) is devoted introducting weighted semigroups (s, w), and studying some famous function spaces on them, especially the relations between go (s, w) and other function speces are invesigated. in fact this chapter is a complement to (32). one of the main fea...