we have devided the thesis in to five chapters. the first recollects facts from purely algebraic theory of jordan algebras and also basic properties of jb and jb* - algebras which are needed in the sequel. in the second chapter we extend to jb* - algebras, a classical result due to cleveland [8]. this result shows shows the weakness of jb* - norm topology on a jb* - algebera. in chapter three, ...

throughout this dissertation r is a commutative ring with identity and m is a unitary r-module. in this dissertation we investigate submodules of multiplication , prufer and dedekind modules. we also stat the equivalent conditions for which is ring , wher l is a submodule of afaithful multiplication prufer module. we introduce the concept of integrally closed modules and show that faithful mu...

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...