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Well-being includes phenomena such as mental health, life satisfaction, positive attitude and feeling happiness. The present study deals with the relationship between language and well-being and claims that well-being factors are expressed in the words of the language. For example, the happiness factor in a language is reflected by certain words such as happy, happiness and satisfied. The theoretical framework of the present study is ecolinguistics. The method is corpus based. The data is extracted from the research of Secretariat of Emotional Intelligence of Tehran Education in 2017. In this study, the well-being status of 1095 high school students, the first and second period, girls and boys, public and private of District One of Tehran have been evaluated. The students' responses to the question about well-being criteria are the base of the present study. The corpus consists of 1161 words with a frequency of 35,455. The content words associated with the five Well-being factors of engagement (occupation and entertainment), perseverance, optimism, connectedness and happiness were extracted in the framework of the semantic map of Jiaqi Wu et al. (2017), by using top-down method. They were analyzed using Excel and SPSS soft-wares. Some examples of the words that represent the well-being factor of happiness are: “relaxation, facilities, happy, healthy, fun, health, happiness, excellent, pleasant, relaxed, happy, satisfied, faith, satisfaction, enjoyed, happiness, joy, and fun”. The research findings show 6845 words of the corpus (about35.7%) are related to well-being, and there is a significant relationship between well-being factors and produced words

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Religious places are the places for the believers to pray. Holly Qur’an clearly defines these spaces as the places that belong to Allah, and Muslims worship and express their belief there. The word ‘mosque’ is mentioned 28 times in the Holly Qur’an. The overall function of mosques aims to generate harmony, harmony of Muslims with respect to God. Mosques have two integrated purposes of religious and social activities. The religious purpose is to worship God in congregational prayer five times a day. The social purpose is to unite Muslims within the community and strengthen their social relationships. Mosque is a symbol of religion, unity, beliefs, identity, peace, strength, justice and solidarity of Muslims. It promotes collective strength; defines hierarchy and allegiance; resolves conflicts with the community; strives for social cohesion; and imparts restrictions and controls of human behavior. The ideal use of mosques was in traditional Muslim cities. They were used as multi-purpose spaces, serving for prayers, studying Holly Qur’an, making political decisions and solving socio- cultural problems. In those times, mosques had to be equally distributed in the built environment and in proportion to the size of population of various sections in the cities. Building mosques in an equal and proportional distribution provided all inhabitants equal access to the use of the spaces in a mosque. So it seems that in traditional Islamic cities mosques had more important roles; they were able to unify Islamic cities physically, socially and culturally but recently, planning of the cities lack the utilization of this characteristics. The study shows that in recent urban planning and design, religious spaces especially mosques have not been paid proper attention. This article is mainly concerned with the role of religious places and specially mosques in planning and design organization in Islamic cities. The main question here is that whether planners and designers have considered the main role of the religious spaces and mosques in planning and designing of a contemporary city for Muslims or not? It seems that there is no significant attention to religious places in the recently prepared city plans. In order to examine the above hypothesis, the comprehensive plans of five districts of Tehran Municipality (2 ^th, 3 ^th, 12^th, 17^th& 20^th regions) were selected as case studies. These parts are located in different parts of the city. To pursue the research; a number of variables were determined and defined. What we found out is that one of the reasons for the decreasing of social interaction and spiritual values in our contemporary cities, is the forgotten role of our religious magnets as a social capital of the society in the planning and designing of our cities. It means that this factor is the one that ought to be under strong consideration in all Muslim communities all over the world.

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Security is a one of the most important factors of urban environments. Therefore, the necessity of security in urban spaces has caused the emersion of authentic theories like defensible spaces and crime prevention through environment design (CPTED) . In this paper, various literatures related to defensible space theories have been reviewed and the related keywords have been defined. Then the role of defensible urban spaces as a social capital in reduction of urban crimes is determined. Finally, the condition of defensible spaces in ITC with an emphasis on Isfahan city has been studied. The research methodology is based on the analysis of data and documents collected through field survey. The research results justify the precedence of defensible spaces – in design and planning- at shaping the Iranian historical cities. Secure and defensible spaces, which support social capital concept under public surveillance and collective responsibility, work as an important aspect in reducing crimes and stability of urban security. Ke

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Environmental attitudes are recognized as an indicator and component of      environmental behavior. There are many theoretical and empirical approaches to investigate attitude towards environment in the respected literatures. Most of the studies related to this issue have been conducted since 1970 onwards when conceptualization of environmental attitudes as a scientific research concept gained closer attention by researchers. Environmental quality was one of the most critical subjects of environmental attitude studies.  The formation, maintenance, and reproduction of social relationships generally occur in a spatial context. Social science has been the potential interpenetration of action and space for individual and social behavior. One approach to this subject has been taken by those working within the framework of environmental quality. This article is mainly concerned with the role of environmental quality on social relationships. The main question of the present research is, whether environmental quality have any influence on social relation or not? It seems that there is significant relation between the quality of environment and social connections. In order to examine the above hypothesis, one of the Mashhad’s neighborhoods was selected as the case study. This neighborhood has been located respectively in the zone 1 / region 2 of the city of Mashhad. Then the variables were determined and defined. There were two main variables in this paper. To evaluate the first variable (environmental quality) some indexes were determined. Also to evaluate the second variable (citizens’ social relations) several indexes were chosen. Then a questionnaire was prepared and data were collected. Finally the responds were analyzed by SPSS. The empirical results deriving from the data show that there are certain strong influences of the environmental quality and social relation. So, the hypothec of the investigation was accepted. It means that in the area under study there is a meaningful relation between social relationship and environmental quality.

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COVID-19 pandemic, as an unprecedented phenomenon in the modern world, has considerably damaged the international trade, business and supply chain. Previous researches show that although, some restrictions and quarantine are helpful for decreasing the negative impacts of the pandemic, but these have cause trade and economic crisis. In this environment, the World Customs Organization (WCO) plays a pioneering role in combating against the damaging effects of the COVID-19 pandemic. It has invited all its members to share their best practices and policies for preventing the spread of the pandemic. The WCO categorizes them into 4 distinctive groups: facilitating the cross-border movement of relief and essential supplies, supporting the economy and sustaining supply chain continuity, protecting staff and society. This research shows that the mentioned practices and policies can significantly reduce the trade and economic recession of the pandemic and implementation of these practices in critical times can be useful to promote the economy and trade and can help the researchers, policy-makers and stakeholders in combating the negative effects of the pandemic.

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Designing complex subway station and mixing them with crisis management provides an opportunity to understand multi-functional of station spaces. This article seeks to reduce vulnerabilities in the analysis subway stations measures to be considered as temporary accommodation in an emergencies and provide a safe space research questions inclusive weather do you have ability to the performance is also, in addition to its roles as station for transport and cultural and commercial complex; in critical condition become to temporary housing? Or what factors effect on flexibility of architectural complex subway? We have very good station complex in our country. A station complex itself consists of several levels of services areas include entertainment and office. This type of sorting and spatial layout is designed based on the needs. But in this paper we discussed bout benefits of this wide space and advantages of all the facilities and equipment in emergencies. Developing countries, including Iran, in addition to being more prone to accidents and natural disasters than other communities, total human casualties and property damage in case of accident these communities are heavier. To prevent the occurrence, planning to rescue damaged area and temporary accommodation, all communities need new Disaster Management. In the present study we have tried through a multi-functional and flexible design, the central station with the highest integrity economic, social and environmental be prepared to deal with the sudden crises. Despite the unexpected event and the space subway stations is located in the basement created a good spaces for sheltering people affected. Theoretical Framework of research was formed on professional background. Description of the research subjects are used to identify a type of descriptive research. They checked through classified questions by the nature of the condition or a relationship between phenomena. This study uses for recognition of flexible spaces with different activities, after studying previous research, analysis and identification of deficiencies and issues that the extent of the subject matter. Factors were identified and then among them some of the most important factors affecting the enhanced versatility stations and related elements are removed and in the form of a questionnaire was developed. Considering that the present selective approach of the Delphi Survey. These questionnaires gave to professionals and experts in related field to examine their views on this issue answered questions. At the end of the questionnaire they provided the new classification according to their own idea. The thirteen components shaped on the form of a questionnaire. The flexibility of components and elements were created in the form of a table, then each component is associated with a short description and an example and then its influence were examined on the subway stations the fifty questionnaires were prepared and given to fifty experts. After one week about forty persons answered. Finally through analyzing these answers with the software SPSS defined two factors (Adaptation) and (Convertible) have the most effect on multi-functional design. Discuss about flexible architecture used in most developing countries. Use the subway as one of the most important infra structure of transport industry. And different countries follow the various purposes about construction and expansion of the system based on their political and socio-economic strategy and structure. In this research, urban transportation industry used toward protection, facilitating crisis management and reduce potential vulnerabilities and providing satisfaction in critical and noncritical periods. Following the development of the industry in the transportation and services the most of countries used of subway station as space towards temporary accommodation with the aim of maintaining and relief protection. On the other, stations being able to protect of people and providing essential supplies for certain time periods at a critical time. These information is done based on limited studies are available. One of deficiency in new architecture is lack of planning toward multi-purpose use. In the other word we can use from the facilities and equipment for temporary accommodation. Becausepeople take refuge the subway station unconsciously, In this regard in many countries subway stations is used as a shelter space. The main issue in this research is multi-functional and flexible design for example station while there are main function and accessories (transportation and provide daily needs), another function will have to meet the needs of citizens in a secure environment. These views with the aim of identify a plan to solve the unpredictable problems and issues in organization critical and methods to reduce the vulnerability of disaster, including recognition of the six stages of crisis management planning. Planning, forecasting, equipment, coordination, implementation, analysis, documentation and temporary accommodation, and how to solve the crisis management in 3 section including of identification, decision and evaluation of temporary emergency measures and consequence of after crisis, including the reconstruction in low-risk areas, construction of building according to the rules of retrofitting and flexible designing of the building and cities in the faces of crisis. Multi-purpose in architecture while has many advantages, there is a little attention has been paid. The research studies began with introduction includes the purpose and expanse of information about the main problem of the research. After classifying articles, books and theses and noted the main provisions of the existing theories, the case study was cleared. This research began with the most general resources and ended with the most relevant resources. A review of existing knowledge and to clarify the deficiencies found the concepts to understood multi-purpose architecture. After classifying component based on the measure of affectively, these components were described. These categories gave to the expert. In this time adaptation was priority. In the other word the flexible space will have greater flexibility and create the space, that provide needs of travelers and transport, facilities, crisis management, reducing vulnerabilities and satisfaction while helping temporary accommodation. In according to assumption of this research, if complex station designed multi-purpose and considerate required spaces for critical conditions can be held accountable as a temporary accommodation and components such as versatility and consistent spatial have a high impact on flexibility of architectural complexes.

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One of the most important aspects of presence of citizens in urban spaces, that enhances their vitality and their effective social roles, is “moving on foot”. Nowadays, in many urban spaces, motion of a large number of citizens, who like to walk here and there in the cities, is affected by various factors. Dissatisfaction of pedestrians due to the limitation of urban spaces has a relationship with the violation of their rights. Citizenship rights, is one of the issues to be considered in Islam and is highly encouraged in respecting human values. A citizen, is an official member of a city, state or country and because of that, there are rights and responsibilities for him/her that have been assigned in law. In fact, citizenship right is a combination of duties and responsibilities of citizens in relation to each other, to the local and to the national government. In Islam, the rights and responsibilities that are known as the citizens’ rights are indigenous with the laws and regulations that have been known and assigned as Islamic human rights. These rights that must be strongly respected by Muslims, include civil, human, social, political, cultural and judicial rights. By studying some samples of justice in the Holy Qur’an, one can notice that “justice” involves all the issues which related to human beings. Some of the meanings of justice in Qur›an which have connection with citizenship rights in Muslim community include: placing everything in their right places, proper and accurate application of everything, respect for individual rights and the prevention of injury and trespassing, saving and prevention extremes, equality with other people and prevention and prohibition of superiority. Prophet Mohammad (peace be upon him) also mentioned justice as a factor for protecting and defending human beings’ right. He emphasized justice as the main criterion for all individual, social, moral, material, physical, spiritual, political and non-political rights. In this article, citizenship right is discussed from the perspective of justice in Islam. Justice is an important factor in the formation of the Islamic city. City is a complex structure that in every moment is influenced by three factors, «body or the built form», «population» and «social relations». So, establishment of justice in Islamic city is the function of (1) establishment of justice in the physical framework of a city, (2)fairly citizens use of urban facilities, (3) establishment of justice regarding to the citizens’ cultural aspects and issues (4) establishment of justice in the behavior of citizens with the physical framework of the city. The balance of the city framework, justice in the rational provision and distribution of municipal facilities, with access to the city authorities, fighting against oppression, good placement of urban facilities and their proximity and accessibility are all the signs of justice in urban scale. But in small-scale there are principles that following them, shows the importance of respecting pedestrians› rights and social justice, such as respect for human worth and dignity, good proportionality between dimensions of space and the characteristics of mental and physical organism of the human body, making the relationship between nature and human, and respect for other people, “La zarar va La zerar rule in Islam”, individual privacy, creating visual beauty and many other issue of these kinds. This study sought to evaluate the impact of these factors in violation of the rights of pedestrians, in the study area (intersection of Jalal Ale Ahmad and Chamran Highway to Kargar-e-shomali Street and Fatemi Intersection) as one of the areas with high pedestrian traffic. The statistical population of this study are the pedestrians who use these paths (the study area) at different times of the day and night. Research methodology is analytical-explanatory and based on field study. So on the basis of pedestrians and authorities views that was found through the researchand the principles of justice in Islam in relation to citizenship rights, six sets of criteria for the analysis citizenship rights of pedestrianscan be defined: Continuity, short distances, beauty, security, safety and comfort.A hierarchical model which intends to determine and analyze the factors that affect the rights of pedestrians in the study area has been used as well as “Expert Choice” software to evaluate the model. The results were obtained for the measures, on the basis of priority including security, safety, short distances, comfort, continuity and beauty. This means that in the study area, security had the greater role on the rights of pedestrians, and beauty has the least importance than others. On the basis of the principles of justice in Islam in relation to rights of citizens and with the issues which obtained in technical studies and expert opinions, the criteria which can affect pedestrian rights were found. For analysis of data, Analytic Hierarchy Process (AHP) technique, and for the importance of options, a questionnaire have been used. “Delphi Method” was also used to evaluate the importance of the criteria and sub criteria. AHP, according to its special features in the issues related to urban planning is a useful and desirable application. It is useful because it prepared a context for analysis and conversion of complex issues to a logical and simple hierarchy, thus planners can evaluate options with criteria and sub criteria. In addition, it also helps in analyzing the compatibility review in judgments. Given that most issues in urban planning and design can be studied through qualitative and quantitative indicators, the possibility of simultaneous use of both qualitative and quantitative criteria in AHP method made it a powerful tool for analyzing urban issues. Flexibility, ease of calculation and the possibility of final rankings also are other advantages of AHP method which can help in the investigation of Issues in urban planning. So, citizenship rights as a manifestation of the principle of justice in the Muslim community should be considered in Islamic cities. The results of the research show that urban management is the most important factor in relation with violation and defense of pedestrians’ rights. Other factors are: the way people behave in adjacent spaces, the behavior of the owners of vehicles and the behavior of other users at the urban spaces. Security is also the most important factor for pedestrians, the lack of it, is a type of violation of their rights. The current problematic situation of pedestrians’ rights is the result of years’ lack of planning and implementing the rights of individuals to neglect issues of implementation of the management system, but the planners and designers can enhance the present situation through a integrated comprehensive and coordinated planning. This program should be associated with all aspects of planning, design and management of the system. Thus, the crucial role of urban management in connection with the rights of pedestrians in designing new cities, in regularization of towns, in allocating of funds for the reconstruction and rehabilitation of urban road networks and the regulation of urban laws (like appropriate legislation and ordinances to bring about the changes in the culture of citizens who are either walking or riding in urban spaces), as the main tools for managing short and average trips within the city, and the most appropriate manner, must have the highest priority.

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Using Non-Islamic patterns in residential architecture in Iran, any logic has led to disruption in the
belt form of residential architecture of Iran. Such disrupted conditions have been also found in
social relations. Change in composition and method of distribution of residential texture in the form
of evacuation of downtown and old regions and growth of sub-urbanism without the development of
citizenship are some aspects of the crisis in the social condition of housing and social behavior in the City of
Tehran. The above effects will result in abnormal behaviors which are automatically extended to social
disturbances.
Statistical studies on the modern forms of residential buildings in Tehran which are designed as high
rises are followed and frequency of the antisocial events in this type of housing has been appraised.
The present study comprises the residential areas that have been included in the urban design of Iran
influenced by western societies and the related norms and contradictions have been compared in the
behavior of the residents of single unit houses, multiunit houses and residential complexes.
Analyzing the spatial perception in the assessment and evaluation regarding the environmental
satisfaction based on the visual perception of the districts pattern evolution is the subject under
discussion in this article. “Visual satisfaction of the surrounding environment” has been formed by
analyzing the data that may be used as a tool for achieving visual perception and conception in
urban spaces as well as introducing the effective factors contributing to the satisfaction and/or
dissatisfaction of the citizens.
Introduction:
Furthermore, this study presents an analysis of evaluation of urban structure environmental perception.
Assessment of phenomena such as Abundance of antisocial events, decrease the dependence
and interest of the citizens regarding their environment, disorganization, and disturbances in the
environment appearance, have been performed in the residential districts texture. Evaluation of the
extent of the environmental dissatisfaction includes a wide range of factors which totally reflect the
value of environmental quality. The next step is to study the visual perception and conception “mental
the arrangement of surrounding environment visual structure” with the method of structural factors
analysis of assessment of the space. Structural factor analysis and its comparison with the identification
and evaluation of the qualitative model of factors contributing to dissatisfaction in residential
environments under study will also discuss the priority of undesirable residential environment visual
factors. Finally, the research conducted on details of the crisis of social disorders that have already been
analyzed and indicates that evaluation of the extent of visual-environmental dissatisfaction include a
wide range of factors and that the district textures and built for do not follow any framework without
identification of cultural index such that in case of any failure in the prevention of such a condition, it may
lead to the social identity crisis.
Literature:
Environment appearance structure is the most important element influencing on urban communities
which may increase or decrease interaction among individuals with the environment surrounding
them. The importance of each element contributing in appearance components in urban spaces,
causes to form documentary theories such as (CPTED).
In inclination towards foreseeing and equalizing the objectives, methods, and solutions, responding to
the various demands and needs in different cities and communitieshas already been failed. Reaction to 
this situation analyzed a large number of theories and approaches for urban planning and design with
qualified, small and certain human scales within the scope of local community and the findings make
them far away from their own positive traditions and their appropriate native cultural identification.
A historical survey on global experiences in policy making for neighborhood excerptional pattern
indicate the common problem of destroying self-oriented social relations and concept of collective
life in such neighborhoods which undeniably cause to destroy the feeling of social cohision and
continually losing of social capital in neighborhood pattern. Also the existence of high population
which makes conjested neighborhoods may lay suitable backgrounds for committing social crimes
and damages which in turn directly influence the perception of the dwellers’ security and safety.
Studies conducted include two different textures of a neighborhood and the research process is
based on recognizing coherence between anti-social behavior and design variables in the pattern of
residential neighborhood.
In summary, the article studies two different textures in the selected neighborhood and compare
them to find the relation between the abnormal behaviour and the type and pattern of the residential
places in there.
Conclusion:
Assessment of the neighbourhood dwellers about their living places influences the level or extent
of the achieving objectives and success in urban projects. Also by recognizing factors contributing
on inhabitants’ degree of satisfaction and dissatisfaction, and understanding available conditions
regarding residence quality, the future approaches have been sugested for promoting the environment
qualitative level and prevention from repetition of some inappropriate actions in other places.
In the literature, satisfaction from environmental appearance has been considered as a key criterion
for the evaluation of the degree of environment quality. This is due to the important fact that the
high-quality environment is defined as an environment which brings a high level of satisfaction feelings
to its population through socio-cultural and physical means.

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Aims: The innovation ecosystem states that innovation through interactive networks occurs at different levels. The network has a wide range of stakeholders that are complex in the innovation process as part of the innovation ecosystem. Considering the importance of the issue of prevention in the health sector and the importance of the role of biotechnology in this field, the aim of this study was to examine the innovation ecosystem of human vaccines in Iran.
Participants and Methods: In this qualitative, exploratory, and descriptive research, while investigating the dimensions of the ecosystem of innovation in literature and its main characteristics, the status of the innovation ecosystem of human vaccines was investigated in Iran. This study was carried out through content analysis of the current documents and deep and semi-structured interviews with experts in this field. Subsequently, a description of the current state of the vaccine innovation ecosystem was presented.
Findings: Most of the graduates did not have enough familiarity with the techniques needed to attend the industry. The existence of two major vaccine manufacturers, the Pasteur and Razi Institutes, were of important properties of ecosystems. The small number of service providers and existing service companies with knowledge-based organizations were of shortcomings. Shortcomings in the characteristics of stable and dynamic interaction in the innovation ecosystem of human vaccines in Iran were evident and the making policies to create or strengthen these characteristics was one of the important issues of Iran in this area.
Conclusion: Despite the abundance of elements and actors in this field, the innovation ecosystem of vaccines in Iran has not yet been formulated in a structured way, and its creation and development requires the characteristics of the innovation ecosystem and the resolution of its challenges.
 

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This paper presents an analysis of annual precipitation trends in Iran. Mean annual rainfalls were collected from 30 synoptic stations with a reasonable geographic distribu-tion and with data equal to or less than 50 years. Trend analysis was investigated using a "regression line slope" method (annual rainfall as a dependent variable and year as an independent variable). The results showed that for the entire period, and at a 95% level of significance, seven stations showed a negative trend, while a positive trend was found at six stations. The same data over the period of last 40 years demonstrated that four and 8 stations had negative and positive trends, respectively. Decreasing the record length, up to the last 30 years, resulted in fewer stations with any significant trend. The results identi-fied that, in any case, the trend did not depend on the mean annual rainfall but rather re-cord length could have some effects on it.

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There are large areas of the world where seismicity is high while they form the whole or parts of urban conglomeration. Iran can be literally compared to a large shaking table; various parts of it have been stricken by earthquake in the last four decades(1). Tehran is also expected to have a major earthquake in the near future(2). Therefore, urban design criteria for earthquake preparedness in organic urban areas of Tehran should be prepared. Among various parts of the city, the organic areas are facing more problems due to their old and unsafe structures and being located in narrow lanes and alleys while gas pipes running every where. In case of earthquake, people will be traped in these places where it will be very difficult for the fire fighting vehicles, ambulances and othe facilities to reach to the affected parts to provide health care services and aid. This paper tries to point out that although prevention of earthquake or strengthening of each and every urban structure is not possible, but at the same time the harsh effect can be toned down with the preparedness of urban transport and built form along them. It is a well known fact that after every earthquake, victims are trapped alive below the debris. This makes it imperative that a hierarchy of earthquake safe centers shall be available at all levels of the settlements and a network of roads is essential for the free flow of emergency vehicles and equipment to make the job of relief and rescue work easier.

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Over the past few decades, the mobile government has attracted a lot of attention around the world. The governments are seeking quality services to citizens to achieve the desired level of satisfaction. Therefore, in order to provide better services, it is necessary to study of the quality of mobile government services and ultimately explain the factors affecting the quality of its services. The present study is a type of qualitative research in terms of purpose, applied, and in terms of data collection.In this study, the method of meta synthesis and the approach of Barrosu and Sandeluski was used to investigate the research literature. Data collection tools are open coding to identify themes and components Drivers of of mobile government service quality. The validity of the analysis was assessed using the kappa coefficient, which was equal to 0.771 In this study, 39codes were identified as basic themes to identify the quality of service quality components. Of these, 21codes were selected as Sub themes and 7were identified and formed as Main themes:Quality orientation, meritocracy, personal privacy, commitment, infrastructural measures, pragmatism, efficient management.

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High blood glucose levels in the body named diabetes can increase damage in kidneys, eyes, heart and etc. In this investigation, a novel TS fuzzy static output feedback control structure is proposed to regulate the blood glucose level in the pre-defined desired values for type 1 diabetes using exogenous intra-venous insulin delivery rate. To this end, a nonlinear delay differential equation framework is considered to model the blood glucose/insulin endocrine metabolic regulatory system. The governing equations of the blood glucose/insulin model are approximated by a TS fuzzy model and then the proposed static output feedback controller is designed for this TS model.

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The interactions and linkages between urban centers and peripheral settlements are increasingly recognized as key factors in the process of social, economic and environmental changes in peripheral settlements. Despite this, most practices are implicitly based on a dichotomous view of population and activities in urban and peripheral area. This paper presents that how interactions between urban centers and peripheral settlements include spatial linkages (flows of goods, money, capital, people, information, production, technology and wastes) affect on peripheral changes. The interactions and linkages between the urban centers of Qazvin and 20 peripheral settlements there show that the effects of this interaction upon the peripheral settlements have included more inorganic effects. Urban and peripheral development need to be considered as complementary process rather than competing activities for the limited resources. The benefits of such an integrated approach will outweigh of the costs.

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One of the most important factors in surveillance systems using robots, is the complexity and unpredictability of the robot trajectories. This becomes more vital in hostile conditions where the robot trajectory is being followed by another agent. Therefore, random or chaotic sequences can be used in motion planning of surveillant robots. However chaotic sequences would be more effective due to their deterministic nature. Moreover the intrinsic robustness and ergodicity of chaotic systems, compared to random functions, would be another advantage to be considered in surveillance systems which require comprehensive coverage. In this paper, a method is proposed for chaotic motion planning for boundary surveillance and implemented to a quadrotor robot. Quadrotor robot is introduced as an appropriate choice for boundary surveillance application due to high maneuverability and aerial functions. The chaotic trajectory is produced using Henon map. Then the dynamics of the system is derived and a sliding mode controller is designed for such chaotic motion. Finally the dynamics of the robot and the proposed controller are simulated to generate the chaotic trajectories for two cases. The performance of the proposed algorithm is discussed according to unpredictability and staying in the allowable region. A circular path and a non-smooth path are considered for simulation examples.

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In this study, a modified method has been introduced for forward dynamic analysis of fast parallel robots. For this purpose, inspired by the Lagrange-Virtual Spring (LVS) method, the Decoupled Natural Orthogonal Complement (DeNOC) method is modified which is a Newtonian based method. So far, virtual springs have been already used in energy based methods. However using the virtual springs in DeNOC method is a novel approach which is proposed in current study. In order to clarify the advantages of Modified Decoupled Natural Orthogonal Complement (MDeNOC) method, a planar 3RRR mechanism is chosen as case study. According to the results, the process of deriving the equations of motion is much less costly while the accuracy of MDeNOC is similar to the LVS and unlike the energy methods, the modified method is also able to calculate the constraint reactions, as well. On the other hand, the calculation time of MDeNOC is much more than the DeNOC and hence, is not suitable for real time calculations. Also, in closed loop systems, constraints must be defined in such a way that express the virtual springs’ longitudinal changes; otherwise, MDeNOC will not give proper results.

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