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 quest for power has formed much of the world history especially in 20th and 21st centuries. oil (energy) particularly after industrial revolution has been a tool for conquest and power and has been transformed to a geopolitical issue. from a geopolitical point of view this has been the case for the last two centuries in central asia and caucasus. central asia and caucasus has always been...

abstract following innovations in the field of elt, a new topic which has recently attracted a lot of attention is metaphor analysis. although this area of research is still in its infancy in elt, it seems that the idea can shed more light on the puzzle of english language learning and teaching. therefore, the major aim of this study is to analyze language learning and teaching in formal a...

this study investigated the effects of manipulating the cognitive complexity of tasks along +/- few elements and the time limits on l2 learners writing performance. to conduct the study, 60 iranian efl learners with two levels of proficiency, low and high intermediate, were selected and assigned to three groups based on the time devoted to task completion. the participants performed both a simp...

a novel silver (ag) nanocomposite electrode was proposed that fabricated from metal nanostructures and ionic liquids. the combined application of unique properties of nanomaterials and ionic liquids in the design of this ag nanocomposite results in electrodes with interesting advantages compared to the conventional metal disk electrode. in the first part of this thesis, the elecrocatalytic eff...

after the soviet union dissolution, a chaotic period was begun in the russia. russia lost its glory and felt disgrace. the first group of elites came to power under yeltsin; they tried to re-define russia’s identity as a european country and build a foreign policy on this baseline. therefore russia tried to become closer with the west especially with the u.s. according to their view the sovie...

the frame semantic theory is a nascent approach in the area of translation studies which goes beyond the linguistic barriers and helps us to incorporate cognitive and cultural factors to the study of translation. based on rojos analytical model (2002b), which centered in the frames or knowledge structures activated in the text, the present research explores the various translation problems that...

to discuss my point, i have collected quite a number of articles, anthologies, and books about "wuthering heights" applying various ideas and theories to this fantastic story. hence, i have come to believe that gadamer and jauss are rightful when they claim that "the individaul human mind is the center and origin of all meaning," 3 that reading literature is a reader-oriented activity, that it ...

abstract this study is carried out to determine the chemical composition in the three vegetative stages of the haloxylon sp., degradation parameters, with adding naoh and ca(oh2 ). for this purpose, in may and october and january 2010 enough some haloxylon sp. of the ammary area was prepared. crude protein and ash percentage are decrease, neutral detergent fiber percentage with pragress stage ...

abstract the problems caused by the traditional system of criminal justice (which are based on remuneration and rehabilitation) such as, lack of attention to victim’s rights and position and society, underlie the emergence of restorative justice which had the victim-centered perspective, with respect to the role of the offender and participation of civil society. meanwhile, criminal mediation ...