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 author intend to by studying the historical causes of the appearance of the novation in the west and explanation of its legal nature from past to present of french law, proves on the one hand that the novation does not extracted from the french civil code and in the shiite jurisprudence with quite similar terms even before the enactment of iranian civil code, was considered by the shiite su...

126 abstract: in this research we studied the effects of cyclic hydration and dehydration of cysts of artemia urmiana and artemia parthenogenetica on the hatching percentage, survival and growth. the experiment was carried out in 3 treatments (1-3 hydration/dehydration cycles) with 3 replicates for each treatment. later effects of cold preservation at -20°c during three time periods were ...

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: one of the most visited & important spaces in different countries by tourist are urban areas. the old tehran which major part is located in district 12 is historical showcase of the capital, but, its hiidden cultural attraction is not used as it should be. this thesis occasionally engage in studying the efficacy of correct installation of travel guide boards in welfare & easily acc...

there are two major theories of measurement in psychometrics: classical test theory (ctt) and item-response theory (irt). despite its widespread and long use, ctt has a number of shortcomings, which make it problematic to be used for practical and theoretical purposes. irt tries to solve these shortcomings, and provide better and more dependable answers. one of the applications of irt is the as...

let h be a separable hilbert space and let b be the set of bessel sequences in h. by using several interesting results in operator theory we study some topological properties of frames and riesz bases by constructing a banach space structure on b. the convergence of a sequence of elements in b is de_ned and we determine whether important properties of the sequence is preserved under the con...

abstract ion selective electrodes (ises) are electrochemical sensors that respond selectivity to the activity of ionic species. an ion-selective electrode is an electrochemical device that uses a thin selective membrane or film as the recognition element, and is an electrochemical half-cell equivalent to other half-cells of the zeroth (inert metal in a redox electrolyte). in common methods o...

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...

due to lack of knowledge management system in the organization of technical and vocational university of iran (tvuni) and losing good employees because of retirement and substitution causes huge amount of costs to replace the similar expertise. there is no any suitable system in the tvuni to store, to document, and to distribute knowledge. based on the university’s features such as it has diffe...