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Aim: Diabetes mellitus and the patients’ need for self-care may bring several challenges in the daily life of diabetic patients. This necessitates the obligation to adopt coping strategies against stress in order to adjust with the governing conditions. The purpose of this study was to explore coping styles in type 2 diabetic patients and their potential associations with demographic factors.
Methods: In this descriptive-analytic study, 201 patients with type 2 diabetes were incorporated from the Tehran-based Dornian Care Clinic and evaluated using the Coping Inventory for Stressful Situations (CISS). Data analysis was performed using SPSS software (ver. 16) at the significance level of 0.05.
Findings: The diabetic patients in this study adopted avoidant (72.1%), emotion-oriented (17.9%), and problem-based (10%) coping strategies. While problem-oriented and emotion-oriented strategies correlated with gender, avoidant style did not. Married individuals used avoidant strategies more than singles. There was a significant relationship only between the use of problem-solving strategies and education level. Also there was a significant relationship between the complications of diabetes and adoption of problem-oriented strategies.
Conclusion: According to the results of this study, diabetic patients have hard times in the face of stresses of life events and the subsequent challenges of their disease. Counseling seems beneficial in order for effective teaching of coping strategies to diabetic patients.

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The purpose of this research is to study the relationship between occupational prestige and soldiering variables and intermediate role of organizational indifference. This research is practical and descriptive-correlative and data were collected through descriptive method. Statistical community is all Ilam petrochemical's Co. employees. Results showed that occupational prestige has a negative meaningful effect on organizational indifference and avoidance. Also, organizational indifference has a positive meaningful relationship. The mediating role of organizational indifference in the relationship between occupational prestige and the staff evasion was confirmed. Considering avoidance, obtained results in respective organization showed that occupational status is one of the main motivational factors for employees. With regard to their responses, the higher the occupational status are, the less the indifference and avoidance.  

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Masoud Rohani,PH.D.
Mohammad Fayazi
Abstract
Nowadays one of the diverse approaches to literary works considers both form and content simultaneously; avoiding the extreme borders of followers of formalism and content-based theories. Individuals such as Bakhtin and Goldman had based their research methods on such an approach. In this approach, it is believed that there is a tight and strong relationship between the work’s content and the concealed insight in it with the text of the work. The analysis of Sohrab Sepehri’s poetry can prove the appropriateness of this approach; because one can connect Sepehri’s anti- Custom contemplations and his norm-avoiding language.
The study of Sepehri’s poetry shows that his anti- Custom thoughts influenced his language as well. Several instances of norm-avoiding and norm-breaking characteristics observed in his poetry prove this point. The interesting point is that among the high variety of norm-avoiding types (semantic, lexical and epochal), he has mostly used semantic order-avoiding ones such as identification, paradox, application of new images and compositions, symbols and intertwining of sensations; using the other order-avoiding devices less. The reason for this issue should be sought in Sohrab’s particular thought system and mind; which on one hand seeks to pay more attention to meaning and presentation of mystical motifs and thoughts; while on the other hand it negates any kind of approach to the past and constantly looks for innovation and purification of the universe. As a result, one cannot expect him to utilize epochal norm-avoiding devices which oppose to his intellectual and rational system.
 

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Legal status of a contract in Iranian law may be valid, void or non-operative. Some of these status may change into another one, for example a valid contract may change into the void one. Such contracts are called voidable. So a voidable contract is one which one of the parties or third person can put an end to at his option. Voidable contracts are not Known in Iranian law, but some exceptions can be found which this article deals with.

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This work supports the effectiveness of the employment of communication strategies for bet-ter and more efficient communication. Communication strategies varies as a function of dif-ferent factors such as personality traits, pedagogical setting, L2 context, etc. The present re-search aimed at delving into the relationship between shyness, task nature and the frequency and type of communication strategies used by the subjects. The subjects of the study were 168 male and female students at Ilam university and Islamic Azad University of Tehran (South Branch). The subjects took a Michigan test of language proficiency. Out of 168 sub-jects taking the Michigan test, 106 were found to be homogenous and qualified to take part in three different communicative activities: Free Discussion, Translation, and Story Recon-struction. Out of the 106 subjects 102 took part in the above-mentioned activities. They were also given to fill up the Stanford Shyness questionnaire. The statistical procedure of Chi-Square was used for the purpose of the study. It was shown that shyness affects the adoption and choice of communication strategies negatively. i.e. non-shy students use more communication strategies than their shy counterparts, and also that non-shy students use more achievement strategies vis-à-vis their shy friends, while the latter group preferred to use more avoidance strategies. The study, however, couldn’t establish and confirm any relationship between the type of task and the type of communication strategies used by the subjects.

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This paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for Omni-directional robots. The aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. First, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms trajectory planning to an optimization problem. Then we use a novel method to solving the optimization problem and obtaining the unknown parameters. Finally, the efficiency of proposed approach is confirmed by simulation.  

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Many studies have been focused on soil-related problems so far. These may include consolidation, soil settlement, or swelling for clayey soils. However, before some incidents like liquefaction phenomena had been recognized, sands were not defined as a sort of problematic soil. After some liquefaction and flow failure took place during Niigata and Alaska earthquakes in 1964, comprehensive studies were carried out to explain sands behavior under various situations. One of the most crucial factors that can affect soil behavior is fines content and their types. Many investigations have been conducted on behavioral characteristics of clean and silty sands since liquefaction first observed in these kinds of soils. Most of studies suggest that sand liquefaction potential boosts with an increase in silt content until a threshold value and after that it starts to decline as silt content increases. Most of the studies conducted so far have mainly focused on clean sand or its mixtures containing non-plastic fines with not much attention paid to the soil mechanics of the critical state of clayey sands. The reason for this neglect might have been the misconception that plastic properties in clay prohibit flow behaviors and liquefaction. However, the studies of Northridge 1994, Kokaeli 1999, Chi Chi 1999, and Niigata 2004 earthquakes have indicated that notable settlements occur in soils containing considerable amounts of clay, resulting in great destruction. The researchers have emphasized that more detailed investigations are needed to determine the critical state behavior of clayey sands The steady state line or critical state line is one of the main factors used in the critical state topics. It is used for investigating the variation of liquefaction potential, calculating state parameters and also determining the parameters affecting on the collapse or state boundary surface shapes. Sand skeleton void ratio, equivalent void ratio and the interaction of sand and fines are being the main subjects of sand critical state behavior researches. In this paper the possibility of equivalent steady state line is investigated to order to reach a unique frame work for interpretation the critical state behavior of clayey sands. The inter granular interaction of coarse and fine grains and the fine communication in inter granular contacts are investigated to reach the equivalent void ratio. An appropriate and useful relation is presented to calculate the fine contribution percent in inter granular contacts and so the equivalent void ratio trough performing numerous cyclic triaxial on different combination of sand and clay, evaluating the variation of liquefaction resistance and finally mathematical analysis the results. Increasing the fine content has increased the instability of combinations. Also it has been shown that the different steady state lines can be converted to a one equivalent steady state line using the proposed relation. The latter means that it would be possible to predict the steady state line of every optional mixture of sand and fine trough performing some tests just on clean sand. In order to certificate the proposed relation, it has been verified based on some previous researches.

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Web openings may be provided in structural floor beams for different purposes. The corner radii of web openings can have a significant effect on stress and strain concentrations around the opening. AISC's design guide for steel and composite beams with web openings states that web openings are not recommended for members subjected to significant high cycle-low stress or low cycle-high stress fatigue loading even if a rational corner radii is provided for web openings. This is because, at the time the specification was written, there were only limited references available to the committee which indicates the need for further studies in this field. In this paper, effect of opening corner radii on cyclic behavior of steel moment connections with Reduced Web Beam Section (RWBS) is investigated using finite element analysis. For this purpose, a T-shaped moment connection (without web opening) which has been tested under cyclic loading by another author is used as the reference model. To see effect of opening corner radii, the reference model is considered with square and rectangular web openings of different corner radii. Fracture initiation in models is simulated using Cyclic Void Growth Model (CVGM) which is based on micro-void growth and coalescence. According to this model, fracture under cyclic loading is predicted to occur when the void size exceeds the critical value. Based on the results, for both square and rectangular openings the maximum equivalent plastic strain and fracture index at the opening corners will decrease as the opening corner radii increase. For openings with small corner radii the fracture index at corners will be very high. This is in accordance with recommendation of ASCE 23-97 which indicates that these configurations should not be used in real practice. However, it should be noticed that in the case of rectangular opening the damage index at the corners may be greater than unity even if ASCE 23-97 limitations are met. This means that if it is intended to achieve high rotation capacity at RWBS connections, ASCE 23-97 requirement about minimum corner radii may be non-conservative. As another result, as the opening corner radii increase local buckling around the web opening occurs at higher rotations. In addition to the local effects, the choice of opening corner radii can also affect the global behavior of RWBS connections. In the case of rectangular perforation, as the opening corner radii increase the load carrying and rotation capacity of connection increase too. This is because in these models, the weakening area prevents welds from failure and fracture occurs in the opening corners. As a result, as the opening corner radii increase the fracture index at opening corners decreases and hence the connection can undergo higher rotation capacities. This is not true for square perforation where fracture occurs at connection welds and the connection rotation capacity makes no change as the opening corner radii increase. As a general recommendation it can be said that web openings with the largest corner radii (elongated circular holes) is the best case for perforated steel connections.

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Extended finite element method (X-FEM) has been recently emerged as an approach to implicitly create a discontinuity based on discontinuous partition of unity enrichment (PUM) of the standard finite element approximation spaces. Despite numerous progresses in mesh generating updating of finite element mesh during crack propagation remain extremely heavy and difficult. This problem becomes more complicate, when there are many discontinuities in the finite element domain. However, the extended finite element method (X-FEM) in the combination with level set method (LSM) could overcome this cumbersome issue. In this contribution, predefined cracks and internal boundaries are created using level set functions and also the effects of soft/hard inclusions (interfaces) and voids are considered on crack propagation schemes. In fact, the interaction of crack and heterogeneities are considered. The level set functions are utilized to represent the locations and the evolutions of internal interfaces. In addition, the stress intensity factors for mixed mode crack problems are numerically calculated by using the interaction integral method. Different crack growth paths are simulated automatically for different oriented edge and center cracks and the interactions of internal boundaries on crack propagations are shown. All numerical examples are demonstrated the flexibility and capabilities of X-FEM in the applied fracture mechanics.

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In order to utilize robots for industrial tasks, designing a suitable path is necessary.Executing the path by the robot in the presence of obstacles, makes the path planning task a difficult one. In addition, path planning is a time consuming task and needs expertise to define certain path for each industrial job. In this paper, uses Jerk-minimum method, B-Spline curves, via-point, and obstacle avoidance algorithm to automatically generate a suitable and safe path for a simulated 7 degrees of freedom industrial manipulator.A user determines via-points for robot trajectory using a Kinect sensor,then a combination of Jerk-minimum method, B-Spline curves, a path is generated. This path is checked by an obstacle avoidance algorithm,and a final path is generated. The obstacle avoidance algorithm uses the inverse kinematic equation of the robot to modify the robot trajectory. One of the advantages of the proposed method is both to facilitate trajectory planning for the user and to create a smooth trajectory for the robotic arm.

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Simulation and analysis of two phase flow that crosses over tube bundles is crucial in safety analysis and design of kettle reboilers and steam generators. The geometry complexity of the tube bundle flow field increases the difficulty of the conventional numerical analysis. One of the methods to reduce the numerical calculations cost, is to use the porous media theory instead of the complete tube bundle modeling. Drag and tube bundle resistance force equations have been used in the porous media analysis. Based on available experimental results, two tube bundle arrangements have been considered. Due to existence of symmetric geometry and uniform energy source over the tube bundle, the two dimensional symmetric models has been used as well. It was observed that the predicted pressure drop in this research has acceptable adaptation with the experimental results. Meanwhile, by considering different outlet boundary conditions, calculated void fraction is compared to the experimental results and showed better accuracy than similar CFD research. It was observed that the enhancement of the tube bundle thermal power increases the void fraction in the heating area of the reboiler.

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Maintaining and restoring robot balance in the presence of external disturbances is a significant capability for a quadruped robot. This is due the fact that these robots move over uneven terrains which may be themselves the sources of the disturbances. In this article, the balance recovery problem of a quadruped robot after an external disturbance will be investigated. To this end, as first stage, the equations of motion of a whole-body model of a robot and also a constraint elimination method will be proposed. In order to recover robot balance, the desired accelerations will be computed based on the concepts of a PD controller and by using the desired velocities and the positions of the main body. However, these accelerations maybe lead to slip stance feet or lose robot stability. Therefore, an optimization problem will be defined to calculate the admissible accelerations and the contact forces simultaneously. The optimal regulation of the contact forces will be done to distribute the contact forces among all stance legs to avoid feet slippage. Since the stability and the slippage avoidance conditions are formulated as linear constraints, the optimization can be solved as a linear constrained least squares error. To evaluate the effectiveness of the proposed algorithm, it will be examined on a quadruped robot in the simulation in two different case studies: in standing situation and walking gait. Finally, obtained results will be discussed.

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This paper deals with the collision-free path planning of planar parallel robot by avoiding mechanical interferences and obstacle within the workspace. For this purpose, an Artificial Potential Field approach is developed. As the main contribution of this paper, In order to circumvent the local minima problem of the potential fields, a novel approach is proposed which is a combination of Potential Field approach, Fuzzy Logic and also a novel algorithm consisting of Following Obstacle as well as Virtual Obstacle methods, as a hybrid method. Moreover, the inverse kinematic problem of the 3-RRR planar parallel robot is analyzed and then the aforementioned hybrid method is applied to this mechanism in singular-free case. It is worth mentioning that, in this paper, all the probable collisions, i.e., the collision between the mechanism and the obstacles and also among the links, are taken into accounts. Two general cases have been considered in collision-free path planning simulation; the first case considered a mobile robot in several workspaces and the second one was assigned to the 3-RRR planar parallel robot path planning. Results of the simulations, which are implemented in C programming language for the sake of real-time purposes. reveal that for the both cases, the newly proposed hybrid path planning method is efficient enough for the mobile robot, or the end-effector of the planar parallel robot to reach the goal without colliding with the obstacles.

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This paper investigates the leader-follower formation control problem of nonholonomic mobile robots based on backstepping technique composed with the bio-inspired neurodynamics while avoiding collision with obstacles. Kinematics model of robot and nonholonomic constraint are introduced and formation control scheme is formed based on backstepping technique. In order to solve velocity jump in backstepping kinematics model, the bio-inspired neurodynamic approach is used. In most of the previous studies, researches are used separation-bearing approach and also supposed that desired separation and bearing are constant. In this paper this assumption is relaxed and desired separation and bearing are considered to be time varying. Error dynamics equations are derived and a new controller is proposed. Also an auxiliary reference angular velocity control law is proposed to guarantee global asymptotic stability of the followers and local asymptotic stability of the entire formation according to direct method of Lyapunov. A common example of changing the formation is obstacle avoidance, when an obstacle is located within a follower path and is not in its leader path. Time varying functions for desired separation and bearing are chosen and the new controller is developed with its proof of stability. Simulations results reveal that each follower robot can track its real time leader employing the proposed kinematic controller while avoiding obstacles. Furthermore control inputs at the start moment and also while avoiding obstacles, do not contain impractical jumps and are reasonable thanks to integrating bio-inspired neurodynamic with backstepping technique.

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In the pultrusion process, continuous fibers reinforcement in roving forms are drawn through a pultrusion die. Therefore, the fibers reinforcement in the final product are generally oriented in the longitudinal axis. In this research, for manufacturing of composite rods, on the basis of previous studies and researches, the E-glass fiber-polyethylene prepregs were produced firstly. Then due to the Design of Experiments (DOE), the pultruded rods with unidirectional and helically-wound layers were produced by using the prepregs. In this study, mechanism of the pull-winding process is created as a secondary process during the main process to improve the mechanical and physical properties in the other directions. One of the most important issues in the thermoplastics pultrusions is the fibers impregnation quality with the polymer base. The fiber volume fractions of the productions are found by the burn tests. The density of the specimens is found by the liquid displacement method. The microscopic images were taken from cross-section of the pultruded rods to investigate the fiber impregnation and the void distribution. Due to the surveys conducted, the fiber volume fractions in the pultruded rods was increased, using the pull-winding technique, and also the void content of these rods was decreased.

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This paper presents a new method based on machine vision for mobile robots to detect and avoid obstacles in unknown environments. One of the challenges of mobile robots trajectory control in unknown environments is that their obstacle avoidance system to be designed robust to material and shape of the obstacle. In this research a mobile robot equipped with a camera is designed and fabricated. Also an algorithm is proposed and implemented on the robot in order to detect obstacles by image processing and to control the robot trajectory. Three color laser pointers are mounted on the robot with certain angles that emit beams to the ground at ahead of the robot. The received images from camera contain these colored points that their coordinates are determined by image processing. Then position of any possible obstacle is detected using the proposed algorithm and the robot is commanded to avoid obstacles by changing its path. These obstacles can be static or dynamic. Our experimental results show that the proposed method, with a high reliability, has the ability to detect and avoid obstacles with any shape and material whereas other similar methods had restrictions in this regard.

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This paper focused on the vehicle path planning in the highways and complex urban environments. At first, obstacles and road lines have been detected by sensors of the intelligent vehicle, thereupon the vehicle will be find the safe areas using the time distance method developed in this paper. Then, an appropriate path close to the intelligent decisions about human being would be chosen through the developed algorithm. There is the possibility of collision to surrounding vehicles in the areas where changing the lane is needed. Therefore, to prevent collision, a five orders polynomial curve is offered for each lane change maneuver. The reached maneuver is optimized based on the vehicle dynamic and allowed lateral acceleration. Finally, a suitable path to pass quite safely and without any collision through the obstacles is suggested. At the end, two main and different simulation scenarios included the lack of collision is verified by MATLAB software and the obtained path is controlled by the sliding mode controller. These simulations indicated effectiveness of this method. The lateral acceleration is obtained in allowed range for comfort of occupants in these scenarios.

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This paper aims at proposing an algorithm for collision-free motion planning of two wheeled mobile robots. The proposed approach relies on discrete motion planning, convex optimization and receding horizon control (RHC) concepts. The proposed algorithm is employed for motion planning and control of a mobile robot in order to pass through an unknown environment both in simulation and practical implementation. In this regard, CVX package benefited from the Gurobi solver is employed to solve the optimization problem in the simulation. Moreover, in order to perform a collision-free motion planning, corresponding Robot Operating System (ROS) package with the intended mobile robot is employed to cooperate with the provided motion planner package. The provided package utilizes educational license of Gurobi optimizer solely to speed up solving proposed optimization problem and its built in branch and bound for Mixed Linear Integer Programming (MLIP). In order to keep the linear form of the constraints, a combination of the Velocity Obstacle (VO) in the first horizon and Bug method concept for the rest of the horizons is used. Obtained results show the reliability of this algorithm for safe collision avoidance. The reported results reveal this fact that by considering the maximum velocity of the E-puck, obtained computational time is less than 0.004 sec. in each stage which is fast enough for robot motion planning tasks.

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In the present paper the problem of designing a flying vehicle trajectory to avoid the collision with Terrain by limiting the flight range in a flight corridor influenced by the shape of the terrain has been investigated. In order to improve the traceability of the designed trajectory, considering the performance characteristics of the aircraft, the effect of two performance parameters including of the maximum rate of climb and the maximum increasing rate of the flight path angle, are considered in the solution algorithm. In this regard, the quantification of the system performance, has been implemented during the definition of different cost functions to minimize the operating time, control effort and vertical acceleration imposing on the aircraft. Mathematical modeling of the terrain which is considered as the route location of the threat, has been implemented using a power polynomial solution for smoothing. Finally, optimal control theory and nonlinear programming approach are utilized to solve the defined problem. The evaluation of case studies and numerical simulations confirmed the effectiveness of the proposed approach to solve the planning problem in flying maneuvers with low altitude requirements for follow and avoidance of direct and indirect environmental hazards.

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The oviposition behaviour and distribution of the eggs of carpophagous Virachola livia Klug (Lepidoptera: Lycaenidae) was studied on pomegranate for six years. Taylor’s power law and Iwao’s mean patchiness regression, and common k proved the aggregated distribution of the eggs on pomegranate fruits. The butterflies tend to oviposit one egg per fruit, indicating the existence of conspecific egg avoidance behaviour. The study showed that the selection of oviposition sites was affected by the part of the fruit body and the cardinal direction of the tree canopy. Results suggest that the oviposition behavior of V. livia and, consequently, the distribution of the eggs may be regulated by the conspecific aggregation and conspecific egg avoidance. It is apparent that the butterfly integrates these two behaviors to maximize the success of its reproduction.