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...

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 ...

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...

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...

the history of plant’s used for mankind is as old as the start of humankind. initially, people used plants for their nutritional proposes but after the discovery of medicinal properties, this natural ?ora became a useful source of disease cure and health improvement across various human communities. berberis vulgaris is one of the medicinal plants used in iranian traditional medicine. berberis ...