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...

in this thesis, a better reaction conditions for the synthesis of spirobarbiturates catalyzed by task-specific ionic liquid (2-hydroxy-n-(2-hydroxyethyl)-n,n-dimethylethanaminium formate), calcium hypochlorite ca(ocl)2 or n-bromosuccinimide (nbs) in the presence of water at room temperature by ultrasonic technique is provided. the design and synthesis of spirocycles is a challenging task becaus...

in this thesis, phosphorus ylides [phbppy], [no2bppy] and [brbppy] have been synthesized through the formation of phosphonium salt and dihydrogenation, followed by the reaction of pd(oac)2 and the orthopalladated dinuclear complexes [pd(?-cl)(phbppy)]2, [pd(?-cl)(no2bppy)]2 and [pd(?-cl)(brbppy)]2 have been produced. the reaction of dinuclear complexes and bidentate ligands [l = bipy (2,2-bipyr...

abstract the purpose of this study is twofold: on the one hand, it is intended to see what kind of noticing-the –gap activity (teacher generated vs. learner generated) is more efficient in teaching l2 grammar in classroom language learning. on the other hand, it is an attempt to determine which approach of the noticing-the-gap- activity is more effective in the long- term retention of grammar...

teachers beliefs have usually been left unattended in the realm of educational research in iranian context. one of those beliefs which seems to impact teachers performance in the classroom is their sense of self-efficacy, which refers to teachers belief in their ability to enhance student achievement and in bringing about positive learning outcomes. the present study aimed to investigate the pr...

Wagner's law indicates a positive long-run equilibrium relationship between per capita income growth and the relative size of the public sector. Accordingly, the main purpose of this article is to verify Wagner's theory and the law on operational budgeting reforms on public spending and educational, health, and military priorities. To meet these ends, the data of 13 Asian selected countries dur...

educational researchers have provided evidence that teachers’ emotional intelligence has strong effects on various aspects of teaching and learning. yet, in the field of teaching english to speakers of other languages (tesol), inquiry into teachers’ emotional intelligence is nearly limited. given its documented powerful impact on teaching practices and student learning, it is critical to pursue...