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...

چکیده: پژوهش حاضر به بررسی تطبیقی اعتماد اجتماعی در بین دبیران زن و مرد مقطع راهنمایی شهر ایلام می پردازد. امروزه در جوامع شاهد گسترش ارتباطات هستیم و با توجه به این که دامنه کنش های اجتماعی از حد روابط با آشنایان و دوستان فراتر رفته و به تعامل با کنشگران غربیه و نا آشنا گسترش یافته است، لزوم وجود اعتماد، بیش از پیش احساس می شود. اما با توجه به نقش دبیران در نهادهای آموزشی، در انتقال ارزش ها و...

the primary goal of the current project was to examine the effect of three different treatments, namely, models with explicit instruction, models with implicit instruction, and models alone on differences between the three groups of subjects in the use of the elements of argument structures in terms of toulmins (2003) model (i.e., claim, data, counterargument claim, counterargument data, rebutt...

the construct of self-efficacy has received increasing attention in research over the past two decades. many studies have been carried out 1.3 significance of the study this study has pedagogical implications since improving students’ self- efficacy and autonomy is important for promoting actual performance on classroom academic tasks. in academic settings, it has been shown that self-effi...

the present study was an attempt to conduct a contrastive analysis between general english (ge) and english for specific purposes (esp) texts in terms of cohesion and cohesive devices. to this end, thirty texts from different esp and ge textbooks were randomly selected. then they were analyzed manually to find the frequency of cohesive devices. cohesive devices include reference, substitution, ...

the extent to which written corrective feedback on linguistic errors can play a role in helping l2 writers improve the accuracy of their writing continues to be an issue of interest to researchers and teachers since truscott (1996) mounted a case for its abolition. while there is growing empirical evidence that written corrective feedback can successfully target some types of linguistic error (...

nowadays,tourism industry considered as one of the main sources of income of a country.unfortunately and despite of owning plenty of cultural historical and natural attractions, iran has not reached to a proper position in this field. besides, the historical cities of a country are considered as the income resource and national wealth of it. qazvin with a rich cultural precedent, have suitable ...

there is less published research about how teachers in efl contexts respond to students who are relatively less mature and less competent l2 writers. while writing researchers have examined various issues concerning peer and teacher response in writing-oriented classes, little research has centered on the effect of collaborative tasks particularly dictogloss on writing skills. output collaborat...

one of the most important factors in study of project’s , is the study of environmental opportunities factors the permanent study of environmental opportunity factors . the study of permanent environmental changing and knowing golden threats’ cooperate with possible threats and at the result in structure forming and future skeleton of organization has a vital effects . the petrochemical industr...

writing as a productive skill requires practice in the basic sub-skills of vocabulary and grammar. in fact, grammar has been viewed as the core of programs in writing classes to help the students put the elements of sentence together and combine sentences of specific lengths to come up with an error-free work of art. conceptualizing l2 writing in this way introduces writing as a product and enc...