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...

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...

peace and national security protection and ironic solving of international conflicts become the preliminary foundation of the united nations charter and had been considered as the main responsibilities of the security council, after world war ii and the establishment of united nations organization. therefore, the security council enables to analyze every kind of conflicts and challenges which ...

abstract pragmatics is the study of communicative action in its sociocultural context. communicative action includes not only using speech acts (such as apologizing, complaining, complimenting, and requesting), but also engaging in different types of discourse and participating in speech events of varying length and complexity. the present study aimed to investigate the assessment of pragm...

this study focuses on jane austens representation of her heroines in two of her novels: pride and prejudice, and mansfield park. i have concentrated only on a single idea: how jane austen takes her heroines through a course of psychogical reformation to which almost everything else in her novel is subsidiary. although i have discussed only pride and prejudice, we can trace austens carefully pla...

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: country’s fiber optic network, as one of the most important communication infrastructures, is of high importance; therefore, ensuring security of the network and its data is essential. no remarkable research has been done on assessing security of the country’s fiber optic network. besides, according to an official statistics released by ertebatat zirsakht company, unwanted disconnec...

chapter one is devotod to collect some notion and background informations, which are needed in the next chapters. it also contains some important statements which will be proved in a more general context later in this thesis. in chapter two, we show that if the marginal factor-group is of order np1...pk,n>1, then we obtain a bound for the order of the verbal subgroup. also a bound for the bear-...

some researches made in the field of agency problem issue, deal with the role of control systems regarding owners and managers. in this research the relationship between the two control mechanisms, namely the voluntary disclosure (external control mechanism) and outside directors (internal control mechanism), which are reductive of agency problems, has been studied. for this reason, a sample ...

‏‎the community dynamics of aquatic coleoptera(insecta)in one of the spring-stream habitats of bammo national park in fars province called cheshmeh-ye-ghanbari is studied as a pilot project and model for acquaintance with and furthering the biodiversity studies on fauna of iran. sixteen species-populations out of nineteen of this community were already identified for their taxonomy and for thei...