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Tragedy is a type of dramatic literature that originated from ancient Greece and is performed on the stage in the form of a play. The great Greek philosopher Aristotle was one of the first to fully discuss and explain tragedy in his book The Poetics. He has introduced elements and components for composing a tragedy that plays an important role in the quality, attractiveness, and superiority of the tragedy.
In Persian literature, some works are a reflection of ancient Greek tragedies and Aristotle's view on this matter; Among the most prominent of these works is Ferdowsi's Shahnameh with stories that are very similar to ancient Greek tragedies. The present research aims to show the similarity and influence of Persian literature with Greek literature in the field of tragedy and with a descriptive-analytical method to compare the story of Siavash from the Shahnameh and the tragedy of Hippolytus by Euripides as a case study and has shown this alignment and effectiveness.
 

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            Under Article 50 of the CISG, if the seller delivers a good that does not conform with the contract, the buyer may reduce the price in the same proportion as the value that the goods actually delivered had at the time of the delivery bears to the value that conforming goods would have had at that time. In this case, the buyer acts unilaterally and is not subject to his/her resort to the court and substantiating the lack of conformation before it, although, in any case, the convention provides remedy for the buyer resorting to an undue option. In some cases, in Imamia Jurisprudence and Iran Law, as where there is the claim for some portion of the object of sale belonging to the other and the buyer may be able based on option in sales unfulfilled in part to get some portion of the price and, in some places due to defect in the object of the sale, may cancel the sale or keep it at the price of getting compensation; they all can be legally considered as instances of price reduction. This paper attempts to compare the instances of price reduction in the 1890 Convention, Imamia Jurisprudence and Iran Law, and while putting the concept of price reduction in the Convention, examines its similarities and differences with the ones in Imamia Jurisprudence and Iran Law. In the end, it is discussed whether this option can be possibly applied as a rule in other transactions or not.      

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Abstract Control of biped robots based on the concept of asymptotical stable periodic motions have become of interest of researchers nowadays. Potential energy shaping, one of the most significant approaches in this regard, has been presented and evaluated well on planar 2D models, so far. In this paper, this concept is developed and investigated for general three-dimensional case, in the presence of non-holonomic constraints. At First, the considered biped model is a 3D compass gait model with finite hip width and arc shaped feet whose stable passive walking has been shown in previous researches. In this approach, the passive periodic gaits which may be adopted for a particular ground slope can be reproduced on any arbitrary ground slope such as flat surface. In fact, thanks to the invariance property of kinetic energy as well as equivariance property of collision map with respect to slope changing action, this important goal is reached only by compensating the potential energy similar to that of passive walker. In another word, inducing a controlled symmetry to the system Lagrangian, we impose a virtual gravity in a new direction resembling the gravity direction of passive walker with respect to the ground. At the end, regarding practical challenges about the implementation of arc feet model, a compass gait model with flat feet and springs at the ankle joint has been proposed instead and the aforementioned control approach is applied again. Simulation results show the effectiveness of the presented approach for both models well.

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Blood pressure monitoring is a vital component of maintaining overall health. High blood pressure values, as a risk factor, can lead to heart attacks, strokes, and heart and kidney failures. Similarly, low blood pressure values can also be dangerous, causing dizziness, weakness, fainting, and impaired oxygen delivery to organs, resulting in brain and heart damage. Consequently, continuous monitoring of blood pressure levels in high-risk individuals is very important. A Holter blood pressure monitoring device is prescribed for many patients due to its ability to provide long-term and valuable blood pressure data. The pursuit of software techniques and the development of cuffless blood pressure measurement devices, while ensuring patient comfort and convenience, are among the significant challenges that researchers are focusing on. In this study, a deep learning framework based on the UNet network is proposed for continuous blood pressure estimation from photoplethysmography signals. The proposed model was evaluated on the UCI database, involving 942 patients under intensive care, and achieved mean absolute errors of 8.88, 4.43, and 3.32, with standard deviations of 11.01, 6.18, and 4.15, respectively, for systolic, diastolic, and mean arterial blood pressure values. According to the international BHS standard, the proposed method meets grade A criteria for diastolic and mean blood pressure estimations and grade C for systolic blood pressure estimation. The results of this study demonstrate that the suggested deep learning framework has the necessary potential for blood pressure estimation from PPG signals in real-world applications.
 

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Although it seems that two categories of robotic systems, the dynamic object manipulation and dynamic biped walking systems, are completely different to be dealt with at the first glance, we believe that there exists strong relationship between these two types of robotic systems. This paper studies the correlation of the dynamic biped walking and dynamic object manipulation in all areas (passive, underactuated and fully-actuated classes). In this regard, the virtual problem of "the amputee walking robot" is defined to describe the relationship between these two kinds of robotic systems. From this viewpoint, the problem of dynamic biped walking is a special case of dynamic manipulation of multibody objects in which the multibody object does have a structure similar to the structure of biped robots. In other words, we can say that the ground manipulates the biped robot which is considered as a multibody object. Then, the concept of correlation is investigated in three different classes of the problem: passive, underactuated, and fully-actuated systems. For each of three categories, appropriate examples are studied. It will be shown that the details of the walking problem could be extracted from the mother problem of dynamic manipulation of multibody objects in all its aspects.

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Once the concept of passive walking was appeared, control of biped robots based on dynamically stable periodic gaits around a stable limit cycle became of interest of many researchers and it has been further accelerated nowadays. The authors have previously shown that in addition to passive walking, a passive, biped walker could interestingly show asymptotically stable turning motion over a novel 3D surface called "helical slope". In this paper, based on passive turning concept, a control method would be offered which is effective for 3D biped robots. The approach is based on potential energy shaping that is usually applied for walking control. In the proposed method, asymptotically stable passive turning motions that are performed on a certain helical slope are projected to 3D motions over flat ground and along a circular path (which is the image of the helical slope on the ground). The biped model used in this study, is a 3D model of compass gait robot with flat feet and flexible ankles that could generated stable passive turning motions. The simulation results show the effectiveness of the proposed method as well.

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Passive bipeds have become an interesting field of research for investigators. Probably all of passive bipeds which have been modeled previously are considered as a rigid model with point-mass. In this paper, 2D planner compass-gait biped with elastic link is modeled and simulated and its period-one gait is investigated. The stance leg of the passive biped is modeled as an Euler-Bernoulli beam and its vibrations are modeled by using Assumed Modes Method and the equations of motion for the swing phase are developed. Then behavior of the elastic biped is simulated by suing numerical methods in MATLAB software and the changes in leg angles and angular velocities of the biped are discussed. Computer simulations showed that when the vibrations of the stance leg are large, angular velocities become oscillating. Vibrations of the stance leg and the effects of Young's Modulus and damping coefficient on the motion of the elastic biped are discussed. Then model is simulated for the small vibrations of the stance leg and the results show that when the vibrations are small the elastic biped behaves like a rigid biped which verifies our simulations. When the vibrations are small, period-one gait can be found for the elastic biped for the ramp slopes of 0<γ≤0.0328 rad. The split in the eigenvalues of the period-one gait happens at the ramp slope of γ=0.029 rad.

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Transparency is an evaluation criterion for teleoperation systems based on force and position error. Generally, conventional control architectures do not lead to a high transparency to preserve the stability. A novel method is the model-mediated teleoperation approach which estimates the environment impedance on slave site and transmits it to master, where the force is calculated locally by creating a virtual environment. This procedure increases the transparency without degrading stability and with time delays in system. Correctly locating the virtual environment has a significant effect on improving the transparency of the system; however, the proposed methods for this aim either require simplifying environment model or adversely affect the transparency. In this paper a novel, yet very simple, algorithm is presented for determining the location of the virtual environment and collision time. The main feature of this algorithm is that firstly it is independent of environment model and thus is applicable to all environments, and secondly it increases the transparency of the system without using additional sensors. The proposed approach is implemented on a single-degree-of-freedom bilateral teleoperation system with time delay. For estimating environment impedance, novel accurate and robust methods are utilized. Impedance and sliding-mode controllers are used for controlling the master and slave, respectively, and the performance of the system is investigated in interaction with hard and soft environments. Simulation results indicate that the transparency of the system is suitably high in interaction with both environments; however, model jump occurs merely at the first moment of contact with the hard environment.

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Controlling the path of drugs movement is one of the processes that can effectively help to treat a variety of diseases. For example, in chemotherapy, small fraction of drug is delivered to the cancer cells and other amounts cause destruction of healthy tissues of body, as a result, before destruction of tumors, the body will be destroyed. Hence we cannot remove tumors from body completely. If we are able to control the path of drugs, we could remove tumors with the least injury. One of the ways through which we can control the movement of the drugs is MDT. In this project, we inspect movement of magnetic particles in the blood and their interactions with consideration of constant magnetic field gradient. After governing its equations and presenting a good model for the forces between particles we simulate these processes in the fluent software. The model we used here is a vein with 8 mm diameter. The simulation was done over 8 cm length of the vein, and from the moment of injection. The base fluid is blood which is considered none-Newtonian fluid. Distribution of magnetic particles in the base fluid has been governed by multiphase approach. The simulation results show that residence time of drug in the presence of magnetic field, increases which in turn increases the possibility of drug absorption.

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Soft- tips, in human fingers, plays a great role in object grasping; specially, when we talk about isotropic and elastic matters. By other word, stability of a typical grasping is really dependent on contact conditions. Well, rolling is the type of constraint approached by this feature and focused in this paper. Grasping an elastic sphere-formed ball by a pair of soft-tip parallel fingers is presented. For starters, by modeling objects as a mass-spring system, dynamic and kinematic systems of equations are derived. Then, a position-based impedance control is developed for the supposed system. To implement and validate the suggested controller, a pair of soft-tip fingers, holding an elastic ball, simulated in ADAMS; this software begets a control block in the Simulink software as a plant of the control system. As a consequence, the process of grasping under the effect of controller can be simulated in real time. The result of the simulation shows the ability of controller in appropriate tracking fingers till making contacts with ball and more importantly, by graphs, stability of grasping is guaranteed.

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Nowadays, diagnosis of diseases with high precision, high speed, low-cost and non-invasive approaches has become a necessity. In this regard, taking pulse signal is very easy and inexpensive, which due to the availability and feasibility of the process, can be very useful in the rapid diagnosis heart disease. If we can use the appropriate signal processing and intelligent methods in such a way that its accuracy and total cost equal those of other corresponding methods, we can say that we have reached a valuable achievement; in the current study we pursue the same purpose. In the first step, pressure pulse signals of 45 Coronary Arterial Disease (CAD) patients and 45 healthy persons are acquired from the left fingers using Task Force Monitor (TFM). Then the signals are filtered by wavelet transform (db6) and the wrong items are discarded. Then, the features corresponding to the CAD and healthy states are extracted which based on Time Domain Analysis. Finally, by choosing the best features, the data of healthy people and patients (CAD) are classified with Support Vector Machine (SVM) classifier by the accuracy rate of more than 85%.

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New users such as pedestrians are added to navigation systems with developing lightweight, portable, low-cost technologies. The pedestrian navigation systems are currently applied in miscellaneous fields including medicine, sport, military services, animation, robotics, etc. This amount of use has attracted the attention of many scholars over the last few decades. In this paper, the paths of a firefighter, as a pedestrian, was estimated approximately by the help of an inertial measurement unit (IMU) and acceleration sensors. To reduce the measured errors and noises by the sensor, zero velocity update (ZUPT) method and Kalman filter are exploited in a pedestrian navigation system. Due to the fact that the error in blind navigation is divergent over time if the filter is not used, the use of conventional accelerometer sensors cannot produce a satisfactory result.
using the combined module of an inertial measurement sensor that includes accelerometer and gyroscope, it is possible to track the person’s position at any moment while the sensor is tracked on the shoe. The ability of ZUPT in navigation system has been discussed and interpreted by measuring a path using a sensor installed on a person’s shoe and comparing the results with the desired predetermined path.
 

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Measuring the vital signs of human body, such as oxygen saturation, blood pressure, and heart rate is the greatest and basic stage of the diagnosis of various diseases, especially cardiovascular diseases. Various methods have been developed to measure these signs. In general, these methods are divided into invasive and non-invasive categories. Due to less damages of non-invasive methods, more attention has been paid to them in recent decades. Using mobile phone is one of the most important non-invasive approaches because of being common and accessible among people. In this article, after studying Photoplethysmographic methods and expressing theories related to this method, imaging photoplethysmography (IPPG) is used to measure heart rate. Regarding two proposed algorithms based on furies transfer and peak detection, implementation of these algorithms was done, using a camera and LED of smart phone on 20 people. Next, the heart was calculated. Finally, a comparison was made between the two methods, the results of which show that peak detection method has less error than furies transfer method.

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Abu Mohammad Khazen was one of the Iranian poets of the Dilmian era and the librarian of Sahib bin Ebad, who wrote poetry in Arabic. Diwan of this poet was unknown for centuries and was discovered in recent years and Ahmad Mahdavi Damghani brought him out of obscurity by correcting Khazan's Diwan. This anonymity and acceptable quality of his poetry made the writers to conduct a research on his poetry. With the initial reading of Divan, it was observed that his poetry is full of norm deviation. Norm deviation is a general deviation from the rules governing the language, and this is done with different methods such as defamiliarization, accentuation, rule-increasing, and rule-making. English theorist Geoffrey Leach has the most consistent theory in the field of deviance, who summarized deviance in eight topics. Therefore, in this essay, it was decided to discuss and examine the examples of non-normativeness in his poetry. It is natural that a suitable research approach for this thesis requires that a descriptive, analytical and at the same time a library method is used in the research. The question of the present research is proposed in this format: How did Abu Mohammad Khazen manage not to disrupt the process of aesthetics and conveying meaning in his normative approach? The general result of the research is that Abu Mohammad Khazen has engaged in norm avoidance in the conventional frameworks of language, therefore, he has not endangered the two principles of aesthetics and the medium of meaning.