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 there is not much sources about ancient carnival and ceremonies , but some information can be gain from documents . as a matter of fact the ceremonies were a part of zarartiyan principles which zartosht had taken them to his religion . it should be mentioned that the oldest ceremonies are about poster and agriculture principles this seasonal ceremonies were very important for agri...

the thesis has been arranged into five chapters and mainly concerned with the baer-invariant of groups which is the generalization of the schur-multiplier with respect to the variety of groups. chapter one is devoted to collect some notation and background information which are needed in the next chapters. its also contains some important statements which will be generalized in this thesis. cha...

abstract the aim of this study was threefold: (1) to investigate the relationship between knowledge of semantic prosody and efl learners general language proficiency; (2) to examine the relationship between qualitative as well as quantitative knowledge of words, and (3) to compare the performance of efl learner on receptive and productive measures of semantic prosody. the study is based on a...

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...

cement is an essential ingredient in the concrete buildings. for production of cement considerable amount of fossil fuel and electrical energy is consumed. on the other hand for generating one tone of portland cement, nearly one ton of carbon dioxide is released. it shows that 7 percent of the total released carbon dioxide in the world relates to the cement industry. considering ecological issu...

abstract tasks nowadays are at the center of attention in sla research. task types is one of the critical issues in this regard, their effectiveness and suitability to any particular context, their characteristics and the result they yield are among some of these issues. on the other hand, discourse markers (dms) have been very much investigated and their effectiveness in conveying the meaning...

anxiety is one common disorder during childhood. in curing anxiety disorders, there are different types of psychological remedies, pharmotherapy, family therapy, and music therapy that can improve the individual’s anxiety, but we need some other remedies to improve social and emotional relationship and interactions. considering the importance of curing the anxiety disorders, the effect of sand ...

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...

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...