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The main goal of this research is to study the drag reduction capabilities of blade-shape riblet surfaces in external flows. For this purpose, the ability of riblet surfaces for drag reduction of an underwater hydrodynamic model has been investigated. The surface geometry has been modified by applying shark skin inspired blade-shape riblets on the surface. These riblets have been modeled in various dimensions and applied on the exterior surface of an underwater hydrodynamic model, and their effects on the exerted drag force, at different flow velocities, have been studied numerically. For validating the numerical solution, the simulation results have been compared with the experimental data obtained by testing an underwater hydrodynamic model in a towing tank laboratory; and the validity of the numerical solution results has been confirmed. The results indicated that, riblet spacing has a significant effect on the reduction of drag force. Furthermore, by increasing the riblet spacing, the drag force is increased rather than decreased. Also, as the velocity increases, the performance of riblets in reducing the drag force is enhanced. In order to minimize the drag force applied on the underwater hydrodynamic model, by analyzing the numerical results, the most optimum riblet spacing has been obtained; at which the drag force is reduced by 7%. The achieved distance is a limit value; and at distances smaller or larger than this optimal distance, the effectiveness of the blade-shape riblet surface in reducing the drag force diminishes.

This study primarily aimed to identify and suggest appropriate rapeseed cultivars and their optimum sowing time. A factorial split-plot experiment was conducted in a complete randomized block design with three replications during two years (2014-2016). The study was carried out using six rapeseed cultivars, namely, Elvis, HL2012, L155, KR2, HW113 and Danob, three sowing dates (October 7, 17, and 27), and two concentrations of glycinebetaine (0 as control and 0.2%). The sowing dates and the GlycineBetaine (GB) were allotted to main plots and the six cultivars were allotted to subplots. The HL2012 cultivar had the highest seed yield (4,584 kg ha-1), seed oil content (44.6%) and seed oil yield (2,060 kg ha-1), which were achieved optimally in the first sowing date. Application of GB increased the average seed yield from 4,089 to 4,419 (kg ha-1), seed oil from 44 to 44.4% and seed oil yield from 1,818 to 1,976 (kg/ha). The amounts of proline and soluble carbohydrates in the plants increased from the first to the third sowing dates. The early sowing date and the application of GB had positive effects on the quantity and quality of rapeseed oil. The results of cluster analysis showed that three of the six cultivars could be suitable for cultivation in Karaj, Iran.

Parenting is a complex activity, which includes special procedures and behaviors that affect the child's growth. The aim of this study was to determine the effect of educational intervention based on the health action process approach on the parenting skills of girl students’ mothers in Mashhad. This was a quasi-experimental study conducted on 100 mothers (50test and 50control), who had 10-13 year-old girls. Mothers were selected using cluster sampling method. Data were collected by a questionnaire designed based on the health action process approach. The questionnaire also contained the demographic questions and its validity and reliable were completed before and 2months after the intervention. After completing the questionnaires, data were analyzed by SPSS 16 and descriptive (frequency, percentage, mean, and SD) and analytical tests (Mann-Whitney and Wilcoxon) at the significance level of 0.05. The Chi-square test showed no statistically significant difference between the experimental and control groups in terms of family size, mothers' age category, level of education, and job. The Mann-Whitney test showed that significant difference existed between the experimental and control groups before intervention) P=0.01Z=2.57( only with regard to action planning. Moreover, two months after the intervention, significant differences were observed between the two groups in all constructs. According to the results, the educational intervention based on the structures of the health action process approach can have a positive impact on mother's parenting skills.

Suicide/suicide attempt, as a major public health problem, has been included among anti-social behaviors. We aimed to investigate the epidemiology of suicide and some associated individual, family, and so-cial factors. A historical cohort study was conducted among all cases (748 persons) reports related to sui-cide/suicide attempt that register in hospital reporting system and health care center in Gonabad and Bajestan, Iran, from 2009 to 2014. The required data were extracted through a checklist. Descriptive (mean and standard deviation) and analytic statistics (t-test, Chi-square, and logistic regression) applied to analyzed data. All data were analyzed using SPSS software. Of the 748 reported suicide attempters, 17 cases (2.3%) had completed suicide. The annual average incidence rate of suicide was 110.03 per 100,000 populations. The mean age of suicide attempt had significantly decreased during the time (P=0.007). Furthermore, a significant association was observed between outcome of suicide and place of residence (P=0.019), history of physical illnesses (P=0.002), and method of suicide (P=0.001). Due to trend of age among suicide attempters, considering intervention programs of suicide pre-vention for school pupils and university students especially individuals residing in rural areas, as well as individ-uals suffering from physical illness would be effective to reduce the rate of suicide.

Today, with increasing the lifespan, the importance of health-promoting behavior and paying attention to maintaining individuals' function and autonomy are becoming increasingly evident and regular physical activity is considered as one of the important aspects of healthy lifestyle. This study aimed to apply the theory of planned behavior to predict the intention to do physical activity in the elderly. This study was conducted on the 371 elderly. A three-part questionnaire including demographic, knowledge, and theory of planned behavior questions was used. The views of the elderly were requested directly in this regard. According to the results, the elderly’s mean age was 69 and the sample included 53% women. The behavior intention in this study had a positive significant correlation with all planned behavior theory constructs. The perceived behavior control construct hold the most prediction power regarding the variance of the elderly’s intention of physical activity behavior. The constructs of theory could predict 26.7% of the variance of intention. Based on the results of this study, the theory of planned behavior was successful in predicting the elderly’s intention to do physical activity and the necessity of paying attention to the component is emphasized to teach intention to elderly people, considering the role of the perceived behavior control construct in predicting behavior intention.

Due to the importance of copper and its alloys in marine applications, the main objective of this research is to provide a simple, effective and low cost manufacturing approach to fabricate a superhydrophobic riblet copper surface with high drag reduction capability in laminar and turbulent flow regimes. Therefore, the riblets are produced by wire cut technique on the copper substrate and then by using a wet chemical method, a superhydrophobic coating is produced on the riblet surface. A pressure drop measurement system consists; pump, closed channel flow with a fabricated surfaces on the lower wall, connections and pressure drop transmitter is employed to measure the pressure drop in the close channel flow, for Reynolds number from 300 to 2769, in order to evaluate the ability of the fabricated surface to reduce the friction drag. The experimental results revealed that combining the abilities of the riblet and superhydrophobic surfaces increases the surface’s ability to reduce friction drag. In addition, the riblet surface and superhydrophobic riblet surface on average decreased the friction drag by 10.33% and 42.65% correspondingly in water flow ranging from laminar to turbulent flow regime. Finally, according to the experimental results, the drag reduction performance of riblet surface is improved from 18.9% to 56.9% after superhydrophobic coating.

In this paper, the mode III crack problem of a non-homogenous layer bonded to an elastic half-plane is considered. It is assumed that the half plane is homogeneous and the layer is non-homogeneous in which the elastic properties are continuous throughout the layer. The stress field in a non-homogeneous layer and in an elastic half plane with Volterra type screw dislocation is obtained. Fourier transforms was applied to governing equations to derive a system of singular integral equations with simple Cauchy kernel. Then, the integral equations are solved numerically by converting to a system of linear algebraic equations and by using a collocation technique. The results given include the effect of the non-homogeneity parameters, interaction between the multiple cracks and distance of the cracks on the stress intensity factors for the purpose of gaining better understanding of the mechanical behavior of non-homogenous coating.

Headache is a common clinical symptom which goes far back in human history. This study is a quick review on headache concerning its diagnosis and treatment based on writings of Rhazes and Avicenna as the most distinguished and prominent scholars in Iranian medical history. In this review the reliable literature on related traditional medicine was investigated. The sources include: Al-Hawi Fi Al-Tibb (Liber the Continens), Mansuri fi al-tahb, the treasure of Khwarazm shah, The Canon of Medicine, Kamil al-Sanate al-Tebie as well as related articles retrieved from different databases.
These databases included Scopus, Medline, PubMed, science Direct, SID, and Google Scholar. In addition, other original texts and sources of Neurology were perused and relevant information was abstracted. In this regard, the diseases of the head, Suda (headache), and the subset of the disease, the term of Shaqeeqa (migraine), were searched in original books of Persian medicine. Diagnosis of temperament, diet modification, use of medicinal herbs and treatments such as massage, bloodletting, dry cupping and purgation of the body from various additional materials were considered as important components of the treatment protocol. The differential diagnosis of migraine from other types of headaches, as well as providing a unique and specific theory for the cause of migraine in the works of Rhazes and Avicenna is surprising. Also, the use of multiple therapies in the treatment of migraine and the selection of herbs with sedative, anti-inflammatory and dermal compositions make it necessary to reconsider and study the experiences of traditional medicine practitioners again

Because of installation for local consumers and since it is free of all contaminations, connecting photovoltaic cells to the grid via single-phase inverter is significantly on the rise. In this paper, a new simple current control is proposed for a single-phase grid-connected voltage source inverter. Using the PQ theory and modelling a single-phase system as an unbalanced three-phase system, a method is provided for reference current generation. In the proposed method, it is not necessary to generate a fictitious phase for the current signal. Also, the removal of adjusting filter parameters which were used to generate fictitious current signal increases the simplicity of the control system and reduces computational efforts, especially in the presence of distortion in the current. The simulation results confirm that the proposed method provides a precise and fast current control with minimum harmonic distortions.

An analytical solution is presented for the thermoelastic problem of a half-plane with several cracks under thermo mechanical loading using distributed dislocation technique. The uncoupled quasi-static linear thermoelasticity theory is adopted in which the change in temperature, if any, due to deformations is neglected. The stress field in a half-plane containing thermoelastic dislocation is obtained by means of the complex Fourier transform. Then, the problem is reduced to the solution of a set of simultaneous integral equations with Cauchy type singularities for dislocation density functions. Numerical results for the modes I and II stress intensity are presented to illustrate the effects of crack geometry and loading conditions on the stress intensity factors.Finally, the different cases of crack configurations and arrangements are examined.

Along with the evolution of nursing perspective, a growing demand for developing critical thinking and clinical reasoning skills is created to solve problems and take care of the patient, in this regards, Clinical instructors can meet these needs through changing the approach of clinical education in proper implementation of the nursing process. The aim of this study was to determine the impact of nursing process education on ability of nursing student's critical thinking.
This educational evaluation study by semi-empirical methods was conducted on 20 nursing students under supervision of 3 Volunteer clinical instructors by available Sampling method in 2015. Students designed nursing process based on patient's health status form and lessons learned previously. Nursing process were taught by clinical instructors from training to evaluation based on materials of " nursing process workshop" during one training session and again asked students to complete nursing process based on education and "new patients health status form" for the same patients. Assessment of critical thinking in students has been done using a standard questionnaire, California Critical Thinking Skills( in Five dimensions of evaluation , analysis , inference, inductive and deductive reasoning) before and after training. At the end, students assignments were collected and evaluated by nursing process checklist. Data were analyzed by using SPSS with Wilcoxon and spearman test.
The comparing of critical thinking dimensions before and after education showed that in all aspects of critical thinking evaluation (P=0.04), inference (p=0.004), inductive reasoning (p=0.04) and deductive reasoning (p=0.005) and total score (p=0.01) except analysis score demonstrated a statistically significant differences in before and after education, also in nursing process, there was a significant differences (P=0.01) in scores of study and knowing fields before and after education
Result show that education of nursing process affect on critical thinking and applying nursing process in clinical atmosphere. One important outcome of the nursing process, changes in analytical thinking of students in clinical training. How to perform and attention of Clinical education team on execution trends have an important role in performing properly .

Breast cancer is the most common type of cancer in women. Screening by mammography is the most sensitive and specific test that can be used for early detection of breast cancer. The aim of this study was to determine the state of screening by mammography and its related factors in a population of women in Rasht.
This cross-sectional descriptive and analytical study was conducted on 1,000 women by systematic sampling in Rasht during 2014-2015. Data collection by socio-demographic questionnaire and screening status was done via phone. Then, data were analyzed by SPSS 16 and T-Test, Chi-square test and logistic regression.
The mean of the age of women was 49.43 ±10.18 years. 45% of women had done mammography. In 80% of women, repeat screening intervals was more than 3 years. The average age of the first mammography was 44.1 ± 9.2 years. 68.4% of women noted that screening is because of checking their health status. 65.3% of women have announced that they did not do screening because they had no problem, and 3.4% have said that they did not have enough information about screening.
The findings of this study revealed that most women do not realize the need for screening and doing that on regular basis. Therefore, it is suggested that preventive measures, as a general education, should be considered in order to raise awareness and provide conditions for mammography to reduce disease prevalence, improve health status, reduce costs resulted from breast cancer among female population.

This paper presents a new approach for single-phase shunt active power filter with LCL output filter based on the two-loop control theory. In this method unlike the conventional two loop control, internal loop stability theorem with considering delay effect is studied. Moreover, an observer based on the Kalman-filter is combined with the proposed control scheme, to reducing the numbers of power sensors in the overall system. Finally, the performance of the proposed method is investigated by extensive simulation tests. Simulation results confirm the excellent performance of the proposed control scheme in steady state and transient conditions.

Today, Electronic Learning System is an important teaching method in the world. E-learning is a relatively new teaching method in Iran and the world, so considering knowledge and attitude of students as an important element of educational system is necessary. The aim of this study is the comparison of knowledge and attitude of virtual and non virtual students towards E-learning.
In this descriptive–analytic study, 93 virtual students of Guilan University and 130 non virtual students of Guilan University of Medical Sciences in 2014 by stratified random sampling methods were selected. To measure attitude, a three parts structured questionnaire covered demographic data, Information Technology knowledge and Mishra’s E-Learning Attitude Scale was used.data were analyzed by descriptive Statistics (frequency distribution, mean & standard deviation, analytic statistics (t-test) and SPSS software.
findings showed that the mean age of virtual and non-virtual students were 33.92±7.2 and 23.32±2.8 years respectively. The mean score of e-learning knowledge in virtual students was 6.15±2.6, and in non-virtual students 5.03±2.1.although virtual students achieve higher mean score in e-learning knowledge; it shows significant differences between e-learning knowledge of virtual and non virtual students (p=0.001). The mean score of attitude in virtual students was 36.93±9.2, and in non-virtual students 36.62±9.6. There was no significant differences between their attitudes.
results show that students knowledge toward E-learning in two groups was low while their attitude was positive so, in order to creating appropriate situation to develop and utilizing Electronic education, promoting students knowledge and institutionalize in this regards based on students needs is necessary.

In all populations, bone mass decreases with age, so the researchers in this study sought to study the application of the health belief model (HBM) for adopting preventive behaviors on osteoporosis among women.
This was a quasi-experimental research conducted on 64 middle-aged women (32 in test and 32 in control group). Data collection tools were a questionnaire based on HBM model with demographic questions, the food frequency questionnaire and the standard questionnaire of physical activity. After confirming the content validity and reliability, questionnaires were completed before and 6 weeks after the intervention. Data analysis was conducted using descriptive statistics (frequency, percentage, mean ± SD) and analytical statistics (correlation coefficient, paired t- test and covariance) and through SPSS 16 at the significance level of 0.05.
Before the intervention, the mean score of HBM model constructs were not significantly different between the two groups. After the intervention, and by controlling for confounding variables the two groups showed significant differences in variables of knowledge, perceived severity, perceived self-efficacy, cues to action, perceived benefits and Calcium intake (p The use of health belief model was effective in adopting the prevention of osteoporosis and improving calcium intake in women, but it did not lead to the desired results in regard to improving physical activity behavior.

Local accessions have developed traits that may improve their ability to adapt to local invironmental conditions. These accessions may contain genes responsible for resistance to drought, salinity, pathogens and pests. Iran is assumed to be part of diversity centers of Cucumis melo var. flexuosus. Because of high economic and horticultural importance and lack of comprehensive genetic studies, it is necessary to conduct genetic studies on local accessions.
Material and Seeds from 12 Flexuosus accessions were collected from different parts of Iran. A randomized block design was used to measure 61 qualitative and quantitative traits suggested by international plant genetic resources institute (IPGRI). Analysis of variance was performed on quantitative traits to compare accessions. The relationship between traits was accessed using Pearson correlation. Cluster analysis was carried out by UPGMA method and Euclidean’s coefficient.
The results revealed considerable diversity among snake melon accessions in many of the traits. Most of the traits were positively and negatively correlated. Factor analysis showed three important factors accounting for 84.3 percent of the total variation among traits. First to third factor assigned 36.5, 32.0 and 15.8 percent of total variation, respectively. These factors were regarded as photosynthesis, genetic and yield, respectively. Furthermore, cluster analysis grouped flexsuosus accessions into four main groups.
This research showed that grouping of accessions based on morphological markers,was not consistent with the geographical distribution of genetic distances, and accessions that were close were not necessarily close together geographically. This research also showed Iranian Flexuous germplasm is rich in genetic diversity and could have an important role to improve modern melon breeding.

Computed Tomography (CT) is main contributor of population dose from diagnostic X-ray examinations. Children are more radiosensitive than adults, thus optimization of CT examination in these patients is essential. The purpose of this study was to evaluate dose delivered to pediatric patients’ undergoing CT examination of the common examinations and also establishing local Diagnostic Reference Levels (DRLs).
Questionnaires were designed for data collection at seven public hospitals and information about patient, protocol and CT system were recorded during 2013 and 2014. Dose measurement was performed in four age groups: 0-1, 1-5, 5-10 and 10-15 years old and two CT dose quantity including CTDIw and DLP were calculated.
Values of 40, 48, 59.5, 59.5 mGy; 16.9, 16.9, 17.14, 17.14 mGy; 17, 17, 17, 17 mGy; 17, 17, 19.2, 19.2 mGy in terms of CTDIw and 448, 538, 758, 758 mGy cm; 129, 129, 154, 167 mGy cm; 184, 225, 306, 315 mGy cm; 289, 408, 595, 670 mGy cm in terms of DLP as regional DRL for brain, sinus, chest, abdomen and pelvic examinations were obtained respectively.
The variations in dose of some examination were considerable. As the role and usage of CT technology continues to expand, it is important that all practitioners adapt optimized protocols, especially for pediatrics scanning, following proposed reference levels.

One of the most important health problems in the modern society is reduced appropriate physical activity by people. The five-step counselling process, which is composed of five essential principles in health counselling, can help to improve health behaviors, such as physical activity, in different individuals. The aim of this study was to determine the effect of an educational intervention using the five-step counseling process based on the stage of change construct on physical activity promotion in female-employees working in Toos Industrial State factories, Mashad, Iran.
This was a controlled intervention study including 76 women working in the Mashad industrial estate factories, Iran, divided into an experimental (n=36) and a control (n=40) group. Data were collected using the standard Marcus Physical Activity Stages of Change Questionnaire and the International Physical Activity Questionnaire (IPAQ), which measures physical activity at three levels of light, moderate and severe, and analyzed using the SPSS software; a P The results showed that there were no statistically significant differences before the consultation intervention between the two study groups as regards the stage of change and level of physical activity (p>0.05). Further analysis of the data revealed that the intervention had caused increases in both the physical activity and stage of change (P Based on the findings, it is concluded that the five-step counselling process is effective in promoting physical activity and can be used as an appropriate strategy by health professionals in the health-service delivery centers and organizations to promote the health behaviors of people.

The role of education in promoting culture of entrepreneurship in agricultural sectors is important. The purpose of this survey was to identify educational factors influencing entrepreneurship of agricultural cooperatives, evaluation of creativity and job innovation and entrepreneurial spirit of Khuzestan cooperatives managers (Ahvaz and Dezful). The population consisted of 100 agricultural cooperatives and Samples were 80 agricultural cooperatives in Khuzestan with using Krejcie and Morgan Table. Then 2 managers and board of directors for each cooperative (totally 160) were selected. Data collected by a questionnaire and personal interview. For analyzing data SPSS (16) was used. Validity of the questionnaires has been confirmed by faculty members and experts. Its reliability confirmed by using of pilot test in Ahvaz rural cooperatives. Cronbach's Alpha value was reported for technical and educational factors as 0.85 percent. Result indicated that education level of members and Implementation of educational courses with entrepreneurship target, rate of creativity and job innovation and entrepreneur spirit were important in cooperative’s success. Technical skills of manager, educational level, board of director’s professional and technical skills had most importance respectively.

The most efficient application of ionizing radiation is serving medical purposes and using this radiation has caused people to learn that artificial sources of radiation exposure among these resources can be of highest exposure rate.
Obiective: The present study is aimed at initially establishing a baseline for localreference dose level in Mazandaran, Iran in 12 projections of the most conventional x-ray examination.
In this study, 13 public hospitals in Mazandaran province were selected for review and required data collected for ten adult patients with mean weight of 70±10kg in each projection. Then, information of each center was separately analyzed. Next, in order to measure x-ray output tube, the dosimeter RTI model Barracuda calibrated has been applied for measuring air karma within energy rage of 40-150kvp. ESAK and ESD parameters, usually used for monitoring DRL in conventional radiography, were calculated.
Mean ESDs in this study has been obtained to 1.47±0.98 for skull (PA/ AP), 1.01±0.79 for skull (LAT), 0.67±0.38 for cervical spine (AP), 0.79±0.37 for cervical (LAT), 0.49±0.38 for chest (PA/AP), 1.06±0.44 for chest (LAT), 2.15±0.73 for thoracic spine (AP), 3±0.87 for thoracic spine (LAT), 2.81 ±0.82 for lumbar spine (AP), 4.28±0.78 for lumbar (LAT), 2.07±1.17 for abdomen and 1.90±0.99 for pelvis, respectively. The ESDs calculated for chest examination in both projections, PA and LAT are more than values recommended by the UK (2000), Brazil and Slovenia.
The present study has determined wide variations in radiation dose of x-ray examinations among hospitals in Mazandaran, Iran. In order to reduce skin dose, an optimization procedure should be considered. Application of a reference dose (DRL) could be a practical method for this purpose. The role of optimization of radiography parameters for reducing patient dose is a significant issue. Through optimizing parameters, it would be possible to preserve image quality while reduction of patient dose.

One of the ways which can facilitate women's access to factors of production and increase income, and in addition to facilitate their participation in collective activities related to the development, is providing the possibility of creating a special women's cooperative with their own management that also provides possiblity of entrepreneurship,s development in society. The aim of this study is to identify strategies and areas of employment and forming women's cooperative in Boushehr province in the form of cooperatives in production and services, Reviews problemes of women,s presence in cooperatives. The study population included two group women members of cooperatives that at least 70% of members are women (4881) and the managers and experts of related organizations with cooperative activities in Bushehr. By using the Cochran formula A sample of 390 women members of cooperatives were determined and The sample size for administrators and experts, was set 130. Activity of women cooperatives Were classified in 20 Major. Issues and problems of women in cooperatives, are including family problems, cultural, social, administrative problems, financial problems and economical. From the perspective of women, restrictive regulations and administrative bureaucracy hinders their participation in cooperative activities. But from managers, perspective, Unfamiliarity with the community especially women corporate culture prevented women's participation.From managers, perspective, family problems, cultural and social are important and from the perspective of women members of the cooperative administrative problems in the cooperatives are important.

This paper contains a theoretical formulation of multiple interface cracks in two bonded dissimilar half planes subjected to in-plane traction. The distributed dislocation technique is used to construct integral equations for a dissimilar mediums weakened by several interface cracks. These equations are of Cauchy singular type at the location of dislocation, which are solved numerically to obtain the dislocation density on the faces of the cracks. The dislocation densities are employed to evaluate the modes I and II stress intensity factors for multiple interface cracks. Numerical calculations are presented to show the interaction effects of interface cracks on the stress intensity factors.

The Achillea genus has 19 herbaceous aromatic species in Iran, of which six species are endemic. One of the native species of this genus is Achillea nobilis. In traditional medicine, different parts of Achillea species are used because of antiseptic, anti-inflammatory, antihistamine and antioxidant properties. In this research, the seeds of Achillea nobilis L. were collected from Hamedan province and cultivated in the field of Alborz Research Station, Karaj, Iran. In order to comparing the essential oil content and composition, flowering shoots and individual plant parts (flower, leaf and stem) were collected in full flowering stage. The plant materials were dried at shade and their essential oils were obtained by hydro-distillation. The oils were analyzed by gas chromatography (GC) and gas chromatography/mass spectrometry (GC/MS). The highest oil yield was obtained from flowers (1.32%) and the lowest from stems (0.14%). The oil yield of flowering shoot and leaf was 0.85% and 0.62%, respectively. The main components of flower and leaf oil were cis-chrysanthenol (47.1% and 50.8%) and α-thujone (8.8% and 9.1%), respectively. The essential oil of stem with 19.7% cubenol, 19.2% indipone, 15.4% cis-chrysanthenol and 9.9% intermedol was completely different with leaf and flower oils. The major compounds of flowering shoot's essential oil were cis-chrysanthenol (41.7%), α-thujone (10.2%) and camphor (8.1%). According to these results, the studied sample could be introduced as a new chemotype of Achillea nobilis with higher percentage of cis-chrysanthenol. In addition, since the essential oil composition of flowering shoot is near to leaf and flower oils, the distillation of flowering shoot of this chemotype is recommended for obtaining more essential oil content.

Medical X-rays are the largest man-made source of public exposure to ionizing radiation. While the benefits of Computed Tomography (CT) are well known in accurate diagnosis, those benefits are not risk-free. CT is a device with higher patient dose in comparison with other conventional radiation procedures. This study is aimed at evaluating radiation dose to patients from Computed Tomography (CT) examination in Mazandaran hospitals and defining diagnostic reference level (DRL). Patient-related data on CT protocol for four common CT examinations including brain, sinus, chest and abdomen & pelvic were collected. In each center, Computed Tomography Dose Index (CTDI) measurements were performed using pencil ionization chamber and CT dosimetry phantom according to AAPM report No. 96 for those techniques. Then, Weighted Computed Tomography Dose Index (CTDIW), Volume Computed Tomography Dose Index (CTDIvol) and Dose Length Product (DLP) were calculated. The CTDIW for brain, sinus, chest and abdomen & pelvic ranged (15.6-73), (3.8-25. 8), (4.5-16.3) and (7-16.3), respectively. Values of DLP had a range of (197.4-981), (41.8-184), (131-342.3) and (283.6-486) for brain, sinus, chest and abdomen & pelvic, respectively. The 3rd quartile of CTDIW, derived from dose distribution for each examination is the proposed quantity for DRL. The DRLs of brain, sinus, chest and abdomen & pelvic are measured 59.5, 17, 7.8 and 11 mGy, respectively. Results of this study demonstrated large scales of dose for the same examination among different centers. For all examinations, our values were lower than international reference doses.

Control of nonholonomic mobile robots is more complex with respect to the holonomic type due to fewer degrees of freedom of their model. In addition, side slipping in a nonholonomic mobile robot disturbs the nonholonomic constraint adversely. In previous researches, the slip is either estimated by an estimator or is measured using sensors. In this paper, two robust tracking controllers are designed with considering the upper bound of the side slip value, using the Lyapunov redesign and nonlinear H∞ methods. Also, the angle of kanayama transformation is defined such that the model includes only matched disturbances in order to apply H∞ method. In the presented model, the slippage not only deviate the robot from its path, it also deviates the angle of robot’s main axis (the robot rotates around itself). Then, the performance of these two controllers is compared and the simulation results show the appropriate efficiency of the proposed controllers.