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 when in administrative law the matter of administrative offences are raised, these offences would have legal nature if they are force able, some of these offences are related to administrative law, where as some other pelts are common in civil or penal law. the current research intends not only to consider the concept and foundation of administrative execution rules but also compares...

چکیده : آرای صادره از دادگاه ها علاوه بر شیوه های عادی از طریق فوق العاده نیز قابل اعتراض و رسیدگی مجدد هستند. در مواقعی که رای دادگاه مخل به حقوق ثالث باشد وی می تواند به ان اعتراض کند. قلمرو شمول اعتراض ثالث به تصمیمات قضایی که از آن به رای تعبیر شده محدود می گردد. ولی در مورد قرارها که به اعدادی و نهایی تفکیک می شوند، چون هیچ رویه ثابت و مشخصی در این زمینه در دادگاهها وجود نداشته و همچنین ا...

this study explored reading strategy use of tefl ma students when they read academic research articles in english. the purpose of this study was to investigate how this group of readers typically approaches reading academic research articles related to their field of study, and also what they do in reading such research articles. the aim of the present study was bilateral. first, the researcher...

toury (1978:200) believes that translation is a kind of activity which inevitably involves at least two languages and two cultural traditions. being polite while asking for something takes place differently in different cultures and languages, therefore various strategies may be applied for making requests and also translation of them in order not to disturb or threaten the face or better to sa...

the purpose of this study is to investigate the relationships between teachers’ immediacy behaviors and iranian students’ willingness to talk in english classes. analysis of the results from willingness to talk scale represents a relatively high level of willingness to talk in english classrooms among iranian language learners. the total mean score of students’ willingness to talk was 66.3 ou...

abstract because of the many geopolitical, geo economical and geo strategically potentials and communicational capabilities of eco region, members can expand the convergence and the integration in base of this organization that have important impact on members development and expanding peace in international and regional level. based on quality analyzing of library findings and experts interv...

during natural gas processing, water in natural gas may cause to hydrates formation in pipelines which may lead to serious damages to process equipments. given the problems raised by present of water in natural gas, glycol solvent uses to remove water.in contact of glycol with gas always an amount of btex and voc absorb along with water, which on glycol recovery process, these substances separa...

over the past decades a number of approaches have been applied for forecasting mortality. in 1992, a new method for long-run forecast of the level and age pattern of mortality was published by lee and carter. this method was welcomed by many authors so it was extended through a wider class of generalized, parametric and nonlinear model. this model represents one of the most influential recent d...

muhammad ibn muhammad ibn numan, known as "shaykh mufid," one of the great imamiye theologians and jurists in the fourth and early fifth century , had comprehensive mastery of both rational and traditional topics and exerted his influence upon both his contemporary and future scholors. he is considered to be one of the top imamiye scholars who spent his lifetime teaching, learning and authorin...