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...

murder of wife during adultery: if a man sees his wifes adultery with another man, he can kill both of them. and he is not guilty in this murder. this sentence is the opinion of imami jurists and numerous comments on this issue are the main reasons for the sentence. that is the opinion of the sunni jurists too. murder of wife and the stranger man are permitted. but in contrast to these views, ...

a simple, rapid and low-cost scanner spectroscopy method for the glucose determination by utilizing glucose oxidase and cdte/tga quantum dots as chromoionophore has been described. the detection was based on the combination of the glucose enzymatic reaction and the quenching effect of h2o2 on the cdte quantum dots (qds) photoluminescence.in this study glucose was determined by utilizing glucose...

abstract translation has become a cultural act which plays a significant role in human life. with the emergence of functional translation theories, and skopos theory in particular, translation has been considered as a purposeful, interpersonal and intercultural activity which is produced for particular recipients and directed by a specific purpose. this purpose determines the translatio...

investigation the archetype of mother can help the reader to understand poes works, especially his fiction, better, if not fully. motivated by internal and external drives to get into the universe in its manifold form poe was impelled to art and, from various modes of art, to symbolism. how much was poe successful to produce works of art has been a matter of dispute among critics. however, ther...

section{introduction} the concept of {sl cartan geometry} appeared at the beginning of the twentieth century, when {e}lie cartan was working on the so-called {sl equivalence problem}, the aim of which is to determine whether two given geometric structures can be mapped bijectively onto each other by some diffeomorphism. this problem can be considered in many different contexts, such as ...

this study was an attempt to investigate the effect of teaching meta cognitive strategies on iranian intermediate efl students speaking proficiency. in this study the researcher has employed metacognitive strategies taken from brown (2000) to teach speaking strategies to number of participants. the participants were intermediate students of shokouh language institute; they were divided into an ...

abstract: in this thesis, we focus to class of convex optimization problem whose objective function is given as a linear function and a convex function of a linear transformation of the decision variables and whose feasible region is a polytope. we show that there exists an optimal solution to this class of problems on a face of the constraint polytope of feasible region. based on this, we dev...

in this project, some new polyaspartimides, (pas)s, have been synthesized form michael addition reaction between new synthetic bismaleimide (bmi) and some aromatic diamines. a characteristic property of this polyaspartimides is a pendent carboxylic group, which introduced to these polymers from new bismaleimide. bismaleimides (bmi) is one of the interesting compounds, which can be self-polymeri...

language learning courseware has been receiving growing attention by english educators since its advent. a variety of softwares have been designed by software designers and resorted to by language educators to supplement language textbooks. this experimental study investigated how the application of computerized version of language textbooks and the reception of the entire course through comput...