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...

1- in a search directed to the reaction of compound)23(the cycloaddition reaction of 1,3- diphenylisobenzofurane)14(with p-benzoquinone)19(,followed by addition of cyclopentadiene was carried out.the specific spacial stracture of its ir,nmr,mass spectra. 2- in another attempt the kinetic stability and behavior of compounds)20(and)23(was studied.the main subject of this study was the highly reve...

abstract nowadaysphotovoltaic solar cells (pvs) areacknowledged the fastest growing energy technology in the word, however, they only account for only fraction of current global renewable energy capacity. it isrecognized that this incomplete market penetration has been largely a result of the technology’sexcessive cost. so researchers are trying to find innovative, economic way with theaim of ...

abstract prediction of death anxiety on the basis of demographic characteristics and sp پیش بینی اضطراب مرگ براساس ویژگی های دموگرافیک و مولفه های معنویت در سالمندان به کوشش الهام حسن زهی معنویت از جمله مفاهیمی است که سالیان متمادی در حوزه روان شناسی جایگاه خود را یافته است پیشینه پژوهش نشان داده است که با متغیرهای فراوانی در روانشناسی در ارتباط بوده است. هدف از پژوهش حاضر این اس...

abstract part one: the electrode oxidation potentials of a series of eighteen n-hydroxy compounds in aqueous solution were calculated based on a proper thermodynamic cycle. the dft method at the level of b3lyp-6-31g(d,p) was used to calculate the gas-phase free energy differences ,and the polarizable continuum model (pcm) was applied to describe the solvent and its interaction with n-hydroxy ...

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 community dynamics of aquatic coleoptera(insecta)in one of the spring-stream habitats of bammo national park in fars province called cheshmeh-ye-ghanbari is studied as a pilot project and model for acquaintance with and furthering the biodiversity studies on fauna of iran. sixteen species-populations out of nineteen of this community were already identified for their taxonomy and for thei...

deposite the different criticisms on contrastive analysis it has been proved that the results of it(when processed)can be usuful in a tefl environment,specially at the level of phonology.this study is an attempt to compare and contrast the sound systems of kurdish and english for pedagogical aims. the consonants,vowels,stress and intonation of the twolanguages are described by the same model-ta...

abstract chickpea is weak in competition of weeds that damages to it at between 40 t0 60 percent. kermanshah province is one of the most important region for chickpea fields in iran. for these reosons, weed management is necessary in this crop. in order to evaluate of herbicides and stubble control on broad leave weeds control in chickpea. experiment was conducted in agricultural research stat...