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...

armenias geopolitics and its historical experience have had a determining impact on the character of its foreign policy .present-day armenia is a small, landlocked country with _11,620 square miles area armenias landlocked nature makes it dependent on the benevolence of its neighbors for access to the outside world a fact that gives it a sense of isolation and vulnerability. as it was indic...

this exploratory study aimed to investigate a possible relationship between learners’ beliefs about language learning and one of their personality traits; that is,locus of control (loc). both variables, beliefs and locus of control, are assumed to influence the language learning process. the internal control index (ici) and the beliefs about language learning inventory (balli) were administered...

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...

in this thesis, structural, electronical, and optical properties of inverse pervskite(ca3pbo) in cubic phase have been investigated.the calculation have been done based on density functional theory and according to generalized gradiant approximate (gga) as correlating potential. in order to calculate the configurations, implementing in the wien2k code have been used from 2013 version. first of ...

employees always concern about losing their job , or in other word , losing their income resources. for this purpose, every government requires strong system for covering these concerns. the unemployment insurance (ui) program’s can be used for achieving this goal. in this thesis, we price ui based on the insurance history of employee and the duration of being unemployed. we use the weibull dis...

this research was conducted to examine the effect of a concurrent training on rest level of leptin of plasma and some hormonal factors in non-athlete subjects. the research population included non-athlete men who didn’t participate in any organized sport activities. 30 men were chosen voluntarily among the above-mentioned population and were divided into 2 groups: experimental (15 subjects) an...

rivers and runoff have always been of interest to human beings. in order to make use of the proper water resources, human societies, industrial and agricultural centers, etc. have usually been established near rivers. as the time goes on, these societies developed, and therefore water resources were extracted more and more. consequently, conditions of water quality of the rivers experienced rap...

abstract since heubners (1985) pioneering study, there have been many studies on (mis) use/ non-use of articles by l2 learners from article-less and article languages. the present study investigated how persian l2 learners of english produce and interpret english definite descriptions and demonstrative descriptions. it was assumed that definite and demonstrative descriptions share the same cen...

there are many approaches for solving variety combinatorial optimization problems (np-compelete) that devided to exact solutions and approximate solutions. exact methods can only be used for very small size instances due to their expontional search space. for real-world problems, we have to employ approximate methods such as evolutionary algorithms (eas) that find a near-optimal solution in a r...