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...

a novel ultra wideband microstrip bandpass filter using radial stub loaded resonator and interdigital coupled lines is presented in this paper. the radial stub loaded resonator and decagonal patch form a resonator named m to create tuneable multiple notches in the passband for suppression wlan interference. to realize sharp roll-off, two adjustable transmission nulls are located at the lower an...

in reality, most structures involved in geotechnical engineering are three dimensional in nature, and although in many, plane strain or axisymmetric approximations are reasonable, there are some, for which 3-d treatment is required. the quantity of data, and the size of the various vectors and matrices involved in such analysis, increase dramatically. this has sever implications for computer r...

this study examines the effetivenss of task-based activities in helping students learn english language structures for a better communication. initially, a michigan test was administered to the two groups of 52 students majoring in english at the allameh ghotb -e- ravandi university to ensure their homogeneity. the students scores on the grammar part of this test were also regarded as their pre...

most specialists in the field of foreign language teachingconsiderreading skill as an interactive process between the reader’s prior knowledge and the text.accordingly, the activation of prior knowledge for an effective comprehension is very important. it is generally agreed that the pre-reading phase is the stage where this type of interaction and activation may be enhanced throughcertain stra...

the major aim of this study was to investigate the relationship between social and cultural capital and efl students’ critical thinking skills. this study takes this relationship in to account to see if people with different sociocultural status are different regarding their critical thinking skills. to this end, 160 university students majoring in english language and literature, english trans...