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...

abstract: sayyed mohammad tabatabaee is accounted as one of the effective persons in iran contemporaneoushistory and his role in the events of iran constitution revolution is inevitable. sayyed mohammad tabatabaee from the time of naser al din shah qajar and arrival to iran, informed of the advantages and the basis of constitution, was in the thought of making the iran rule as a constituti...

the present study attempts to discover ideological differences between alcott’s novel (1868) named “little women” and its two persian translations. the first has been translated by morvarid and the second has been translated by obeidi. to this end, farahzad’s cda approach (2012) was used to analyze the ideology reflected in both translations by the two different translators. according to farahz...

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...

the research questions were as follows: 1. is there any relationship between the students concious awareness of the form and implications of the conjuncations and their improvement in using appropriate conjunctions? 2. does students knowledge of the from and the implications of the conjunctions help them to produce more coherent writings. 3. does a comparison between english conjunctions and th...

attempts have been made to study the thermodynamic behavior of 1,3 butadiene purification columns with the aim of retrofitting those columns to more energy efficient separation schemes. 1,3 butadiene is purified in two columns in series through being separated from methyl acetylene and 1,2 butadiene in the first and second column respectively. comparisons have been made among different therm...

this research is a study on indicators of listening instruction in iranian english as a foreign language (efl) curriculum at guidance school and high school educational levels. this thesis aims at determining: a) the indicators of listening instruction at guidance school and high school efl curriculum. b) the indicators of listening instruction in irans guidance school and high school efl curri...

the present study aims at identifying, classifying and analyzing collocation errors made by translators of the holy quran into english.findings indicated that collocationally the most acceptablt translation was done by ivring but the least appropriate one made by pickthall.

in this thesis, phosphorus ylides [phbppy], [no2bppy] and [brbppy] have been synthesized through the formation of phosphonium salt and dihydrogenation, followed by the reaction of pd(oac)2 and the orthopalladated dinuclear complexes [pd(?-cl)(phbppy)]2, [pd(?-cl)(no2bppy)]2 and [pd(?-cl)(brbppy)]2 have been produced. the reaction of dinuclear complexes and bidentate ligands [l = bipy (2,2-bipyr...

the treatment of in completely formed pulpless teeth has presented considrable problems. these teeth have wide open apexes and the walls of the root canal diverge toward the apical tissues. mechanical preparation cannot be done in the normal manner beacause of the large initial size and the taper of apical part of the canal , a mechanical stop cannot be produced at the apex of the canal and , t...