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...

a novel silver (ag) nanocomposite electrode was proposed that fabricated from metal nanostructures and ionic liquids. the combined application of unique properties of nanomaterials and ionic liquids in the design of this ag nanocomposite results in electrodes with interesting advantages compared to the conventional metal disk electrode. in the first part of this thesis, the elecrocatalytic eff...

جهت بهینه سازی شرایط تولید پروتئین هیدرولیز شده (شامل نسبت آنزیم به سوبسترا، دما و زمان) به منظور دستیابی به بالاترین خواص آنتی اکسیدانی، مینس تهیه شده از ضایعات میگوی ببری سبز (penaeus semisulcatus) پس از تعیین درصد پروتئین آن (13%، بر اساس وزن تر) با استفاده از دو پروتئاز تجاری آلکالاز و فلاورزایم بر اساس 18 تیمار تعیین شده با طرح آزمایشات سطح پاسخ برای هر آنزیم، هیدرولیز شده و با خشک کن انجم...

flow in natural river bends is a complex and turbulent phenomenon which affects the scour and sedimentations and causes an irregular bed topography on the bed. for the reason, the flow hydralics and the parameters which affect the flow to be studied and understand. in this study the effect of bed and wall roughness using the software fluent discussed in a sharp 90-degree flume bend with 40.3cm ...

bekenstein and hawking by introducing temperature and every black hole has entropy and using the first law of thermodynamic for black holes showed that this entropy changes with the event horizon surface. bekenstein and hawking entropy equation is valid for the black holes obeying einstein general relativity theory. however, from one side einstein relativity in some cases fails to explain expe...

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 ...

in the present work, a simple and sensitive method was developed for determination of morphine and heroin using gold nanoparticles as resonance rayleigh scattering (rrs) and colorimetric technique’s probe. synthesized gold nanoparticles by sodium citrate reduction method have a negative charge layer on their surfaces because of self-assembled citrate anions on their surface. binding of morphin...

a novel and ultra low cost isfet electrode and measurement system was designed for isfet application and detection of hydronium, hydrazinium and potassium ions. also, a measuring setup containing appropriate circuits, suitable analyzer (advantech board), de noise reduction elements, cooling system and pc was used for controlling the isfet electrode and various characteristic measurements. the t...

peace and national security protection and ironic solving of international conflicts become the preliminary foundation of the united nations charter and had been considered as the main responsibilities of the security council, after world war ii and the establishment of united nations organization. therefore, the security council enables to analyze every kind of conflicts and challenges which ...

asymmetric membranes are widely used in many industrial membrane separation processes. the major advantage of membrane filtration over the conventional process is its ability to remove a wider spectrum of particles without using any chemicals. hollow fiber configuration offer many advantages over flat-sheet or tubular membranes. the spinning process of hollow fiber may look simple, yet it is te...