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...

Relinquishing precious metal coins and replacing it with paper money is an Historical development in modern economies. Some liberal monetary theorists (Austrian school) rejecting paper money have emphasized the need to return to a metallic currency (or gold standard) and the rule of market in money production. The main vice of paper money is that it is not consequence of the spontaneous market ...

Abstarct: Qajar rugs are among the richest treasures of Iranian art. In these carpets , specific kind of design and new usage were created. Motifs of these group of qajar carpets not only were affected by various literary and storied themes but also reflected by religious and mystical themes. In this way, we can mention carpets of spiritual characters and darvishes. Weaving of darvish ‘s fac...

abstract this study evaluated and compared medical terminology and english for the students of medicine (ii) as two representatives of the textbooks available on the iranian market for teaching english to the students of medicine. this research was performed on the basis of a teacher’s and a number of students’ attitudes and the students’ needs analysis for two reasons: first, to investigate...

a novel silver (ag) nanocomposite electrode was proposed that fabricated from metal nanostructures and ionic liquids. the combined application of unique properties of nanomaterials and ionic liquids in the design of this ag nanocomposite results in electrodes with interesting advantages compared to the conventional metal disk electrode. in the first part of this thesis, the elecrocatalytic eff...