in this thesis, a structured hierarchical methodology based on petri nets is used to introduce a task model for a soccer goalkeeper robot. in real or robot soccer, goalkeeper is an important element which has a key role and challenging features in the game. goalkeeper aims at defending goal from scoring goals by opponent team, actually to prevent the goal from the opponent player’s attacks. thi...

nowadays, air pollution is a global problem that has had significant growth by technology development, population growth andindustrial development. industrial development brought natural resources deterioration, more manufacturing products, and more environmental pollutants. if pollutant won’t be controlled, human-being and wildlife will face the critical risks. significant release and critical...

foreign policy takes root from complicated matters. however, this issue may be more truth about armenia. although the new government of armenia is less than 20 years, people of this territory are the first ones who officially accepted christianity. in very past times, these people were a part of great emperors like iran, rome, and byzantium.armenia is regarded as a nation with a privileged hist...

previous studies have aimed at testing a hypothesis but the present study is data-first research in which researcher tries to form a theory from data rather than the use of data to test a hypothesis. this study aims at exploring teachers perceptions of the strengths and weaknesses of the current syllabus for college preparatory course. eight experienced teachers were selected to collect data du...

abstract:‎ literature is said beautiful words of poetry or prose that excites reader’s or listener’s feel. certainly, to ‎be effective, such a text should have certain characteristics. the four elements of the literature: thought, ‎imagination, emotion and style make a text to be literary and effective. emotion and imagination are ‎specific elements of literary texts, while thought and style a...

a large number of single research studies on the effects of strategy-based instruction (sbi) in teaching english as a foreign or second language has been conducted so far. however, the lack of a comprehensive meta-analysis targeting the effectiveness of english language sbi is observed. moreover, the findings of experimental studies regarding the context of the english language, proficiency lev...

the purpose of this study was to examine the comparative effect of story retelling and role playing on efl learners’ vocabulary learning and reading comprehension. to carry out the purpose of the study 90 female learners of tabarestan language school located in noshahr were non-randomly selected. they took pet test and among these 90 participants 62 students were selected as homogenous learners...

the main objective in sampling is to select a sample from a population in order to estimate some unknown population parameter, usually a total or a mean of some interesting variable. a simple way to take a sample of size n is to let all the possible samples have the same probability of being selected. this is called simple random sampling and then all units have the same probability of being ch...

this thesis basically deals with the well-known notion of the bear-invariant of groups, which is the generalization of the schur multiplier of groups. in chapter two, section 2.1, we present an explicit formula for the bear-invariant of a direct product of cyclic groups with respect to nc, c>1. also in section 2.2, we caculate the baer-invatiant of a nilpotent product of cyclic groups wuth resp...

deployable scissor type structures are composed of the so-called scissor-like elements (sles), which are connected to each other at an intermediate point through a pivotal connection and allow them to be folded into a compact bundle for storage or transport. several sles are connected to each other in order to form units with regular polygonal plan views. the sides and radii of the polygons are...