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...

based on the latest records of typhlops vermicularis merrem, 1820 from iran, this species is distributed in the northern and southern regions of the country. in this study, new records of typhlops vermicularis are presented and it is shown that distribution range of this species is extended towards the eastern and western iran, and according to the new distribution map, it can be assumed that t...

the outcome of this research is a practical framework for “idea generation phase of new product development process based on customer knowledge”. in continue, the mentioned framework implemented in a part of iran n.a.b market and result in segmenting and profiling this market. also, the critical new product attributes and bases of communication message and promotion campaigns extracted. we have...

heuristics are often used to provide solutions for flow shop scheduling problems.the performance of a heuristic is usually judged by comparing solutions and run times on test cases.this investigation proposes an analytical alternative ,called asymptotic convergence ,which tests the convergence of the heuristic to a lower bound as problem size grows. the test is a stronger variation of worst cas...

muhammad ibn muhammad ibn numan, known as "shaykh mufid," one of the great imamiye theologians and jurists in the fourth and early fifth century , had comprehensive mastery of both rational and traditional topics and exerted his influence upon both his contemporary and future scholors. he is considered to be one of the top imamiye scholars who spent his lifetime teaching, learning and authorin...