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Background: Dairy products are considered as some staple food rich in nutrients. Among dairy products, ice cream is one of the most attractive and popular products. The popularity of ice cream is due to its great taste and unique texture. Considering the prevalence of traditional ice cream consumption in Iran and the risk of microbial contamination of these products, the microbial quality of industrial and traditional ice creams in Fars province was evaluated and compared.
Materials & Methods: A total of 470 ice cream samples were tested to determine total viable count (TVC), total coliform count (TCC), and the presence of fungi. Biochemical properties and antibiotic sensitivity of isolated bacteria were investigated.
Findings: TVC in all industrial ice cream samples was lower than the limit specified by the national standard of Iran. Coliform levels in 37% (n=100) of traditional and 1.5% (n=3) of industrial ice cream samples were higher than the permissible limit. Furthermore, 74.8 and 40% of traditional samples contained Escherichia coli and fungi and mold, respectively. Antibiogram results showed that the highest antibiotic resistance of the isolates was related to ampicillin and trimethoprim/sulfamethoxazole.
Conclusion: Traditional ice creams are highly contaminated with microbial agents resistant to two or more drugs, which poses great risks for the consumers of these products, especially children. Therefore, it is necessary to implement appropriate hygiene practices to increase the safety of ice creams. Alerting people about the risks of foodborne diseases could significantly help prevent such diseases.
 

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The present study aims to implement an approach for trajectory control of a 3-RPR parallel manipulator over a path with obstacles in the workspace. For this purpose, using the spline curves approach and based on the cuckoo optimization algorithm, a smooth reference trajectory with minimum length is generated in the workspace to avoid robot collision with obstacles. The performance and accuracy of the cuckoo optimization algorithm in converging to the optimal solution is then compared with the Genetic algorithm. In the next step, the robust sliding mode control technique is adopted for trajectory control of the robot in the presence of some uncertainties. These uncertainties usually include the links length and links mass of the robot. The obtained results confirm the demanded level of performance and accuracy of the cuckoo optimization algorithm. It is also observed that the optimal trajectory with minimum length is generated using the spline curves approach. In addition, it is concluded that based on the sliding mode control technique, the robot can follow the desired trajectory very precisely in spite of the presence of the uncertainties in length and mass of the robot's links.

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         An emergency sale is an obligation imposed upon the party who possesses the goods of the other contracting party. In case of an extra ordinary situation such as perishable goods, he has the duty to sell such goods in his possession. This legal institution is being adopted both in Vienna 1980 Convention on International Sale of Goods (CISG) and Iranian Law. However, in Iran's law, this issue has not been studied as much. This paper makes efforts to do a comparative study of this legal theory. The author is in the opinion that, in case of existing of all requirements of an emergency sale, this institution is capable of being used in other contracts as stipulated in the law of Iran; this notion may be used as protective means in contracts for the goods, which are lawfully in the hands of the other party.   Keywords: Emergency sale, Resale, Commissioner, Carrier.          
  * Corresponding author’s E-mail: Amirmoezi@gmail.com