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...

the present study set out (a) to examine the categories of pedagogical knowledge related to the act of teaching of novice and experienced teachers as gleaned from their verbal report of what they were thinking about while teaching and (b) to compare the categories of pedagogical knowledge of novice and experienced teachers. the aim of comparing these two groups of teachers was to see whether di...

sange siyah dam is located two kilometers down the kabod khani village. the environ of ghorrve city in kurdestan province. this is an clay core dam. in this dam instrumentation is performed in three section and consist of electrical piezometers, total pressure cells, settlement cells and so on. the main objective of instrumentation is to control the behavior of dam body and foundation, end else...

the purpose of this thesis was to investigate how differently metacognitive, cognitive, and social/affective strategies affect l2 learners’ reading comprehension. to this end, the study employed a quasi-experimental design with a placement test as a proficiency test to find the homogeneity of groups. three classes were randomly selected as the experimental groups (n =90), and each class was tau...

learning a second or foreign language requires the manipulation of four main skills, namely, listening, reading, speaking, and writing which lead to effective communication. it is obvious that vocabulary is an indispensible part of any communication, so without a vocabulary, no meaningful communication can take place and meaningful communication relies heavily on vocabulary. one fundamental fac...

abstract the problems caused by the traditional system of criminal justice (which are based on remuneration and rehabilitation) such as, lack of attention to victim’s rights and position and society, underlie the emergence of restorative justice which had the victim-centered perspective, with respect to the role of the offender and participation of civil society. meanwhile, criminal mediation ...

abstract abstract of thesis (includes summary, goals, execution methods, and results) story “al-obnosat al-bayza” is one of the short stories from “hanna mineh” collection. this story is a selection of lives of some humans during a voyage together, each of them is a symbol of human nature (love, mind, kindness) and examine social, cultural, and political aspects of governing system, and it...

‏‎the purpose of the present study was to investigate the latent pattern underlying reading ability . some 272 male and female participants. english majors at the ba level , participated in the study. two valid tests were used in this study, the reading test developed exclusively for the purpose of this project and academic reading section of ielts. to investigate the possible latent underlying...

this study intends to investigate samuel beckett’s waiting for godot and endgame under the lacanian psychoanalysis. it begins by explaining the most important concepts of lacanian psychoanalysis. the beckettian characters are studied regarding their state of unconscious, and not the state of consciousness as is common in most beckett studies. according to lacan, language plays the sole role in ...

attempts have been made to study the thermodynamic behavior of 1,3 butadiene purification columns with the aim of retrofitting those columns to more energy efficient separation schemes. 1,3 butadiene is purified in two columns in series through being separated from methyl acetylene and 1,2 butadiene in the first and second column respectively. comparisons have been made among different therm...