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the more its ico project fails and its many scams with ico mode, i am increasingly afraid to invest in ico world because now many scams are in the form of ico, how to understand ico that is not scam?

I would suggest you to go to ico rating sites like icodrops and to analyze rated projects that are there. Most of the predictions on icodrops are right. That helped me  a lot, and I hope it would help you too

it helps but only slightly, as many Ico have entered ico bench and ico drops but still their projects fail

That's very true, you have to tell there about ICO. In addition to icodrops there are also sites that explain about ICO, Like ICO bench. So with you go there maybe you will understand ico. And hopefully you can be a big investor for every ICO.

There is a lot of old threads were discussing that and you can find them all and then try to read every page about that. The only thing you should to do a lot of research about that. If you have seen about how zilliqa, ONT, Iotex and many more are not scam projects and they are all giving a very very huge return to the users and they are even better than EOS.  ::)
Try to understand how a proper whitepaper is, the team's experience and history, the code, the community and many more.

It is really difficult to understand ICO. I know how you feel. But only you, yourself can know if it is a trusted ICO. First is you have to investigate. You have to search every details about that coin. In that way you cannot be fooled. You can also ask the opinion of other who are in this organization for so many years. With their experience they can help you a lot.

That is ezactly why you lose as newcomers. Dude, be careful who you're trusting, after all, these websites get paid to get you listed higher. As long as you don't do your own research and make up your mind.

There are many ways to know the ICO is really good or just a scam. You can see from the ICO rating. You can see it on ICObench and many more. After that you can see from the product on sale a project and mission vision of course very important to see ICO is good or scam. And the Team of the ICO is also very influential.

means i have to understand first what it is ico, and understand whitepaper then i need to do research about ico the scam and ico which is not scam

Its very hard to tell whether icos are scams or not if you first look at it. If you want to invest in an ico make sure you read. There are a lot of things you need to check. Read their whitepaper, it matters if they have a product or a project. Check if their website link works. Check for reviews from experienced people in the crypto industry. Check the people behind the ico and see if these people really exist. Also, check this thread if you can see if they have been suspected of being a scam. https://bitcointalk.org/index.php?board=83.0

You can wait until token listing or product development - this is more safe, but profits are much lower.
The greater means the higher profit.

it may be very helpful but sometimes there are naughty ico using team profiles, number of tokens sold and their team experience so they can attract more investors, how to distinguish between the real and the fake?

1. Do your ICO due diligence
     1.1. Assess WP
     1.2. Check reviews and listings
     1.3. Find out if Idea & Solution are well-established
     1.4. Team assessment (LI, Manual research)
     1.5  Ecosystem legitimacy
     1.6. Verify that the website is ok
     1.7. Check Token distribution, promos & discounts
2. ICO Stages (Private sale, pre-sale, crowdsale) - understand in which phase the ICO is currently in and understand the differences
3. KYC
4. Registration and purchase directly via their website
5. HODL or Trade

If you are looking for a detailed guide which will show you each and every step in-details, both practically and in theory, please visit: https://www.coinpoint.net/icoguides/ and triple your funds in no time.

You can understand ico from this forum or you study there whitepaper.. take your time to study and ask question about the ico you want to do or invest

For me,I will say that ICO is initial coin offering which is a way for either an existing company or upcoming project to raise money globally from investors to fund the project and give profits back to those investors as time passes by and the company operations become more profitable.

Look at the development team, because with the development team, I make sure I know the project is SCAM or not.
Suppose that the development team has a Vitalik Buterin Adviser, so I am 100% sure that the ICO will not be a SCAM, like Omisgo.