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...

the quest for power has formed much of the world history especially in 20th and 21st centuries. oil (energy) particularly after industrial revolution has been a tool for conquest and power and has been transformed to a geopolitical issue. from a geopolitical point of view this has been the case for the last two centuries in central asia and caucasus. central asia and caucasus has always been...

abstract al- muntazam by ibn al -jawzi is one of the greatest the book ancient book of texts on history of islam in the 6th century.it is very important one;because of including rare reports which are not found any where.in addition to historical reports,his outlook , in which embodies information on mythologies, milal wa nihal (sects and creeds), geography, and political, social and religiou...

abstract the present study is concerned with the syntactic deviation in hafezs poetry. poems are known to be accompanied with various linguistic deviations. these deviations may be phonological, morphological and/or syntactic. the relatively high frequency of the cases of the syntactic deviation in hafezs poems makes this rhetorical feature as a main characteristic of his poetry. this thesis, ...

nowadays in trade and economic issues, prediction is proposed as the most important branch of science. existence of effective variables, caused various sectors of the economic and business executives to prefer having mechanisms which can be used in their decisions. in recent years, several advances have led to various challenges in the science of forecasting. economical managers in various fi...