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...

determination of uranium in natural water and complex solutions using ion exchange chromatography: a combined procedure using ion exchange chromatography and uv-vis spectrophotometry techniques has been developed to measure uranum in natural water and complex solutions. after conditicing , one hundred milli liters of sample solutions have been passed through an ion exchange column,pachked with ...

section{introduction} the concept of {sl cartan geometry} appeared at the beginning of the twentieth century, when {e}lie cartan was working on the so-called {sl equivalence problem}, the aim of which is to determine whether two given geometric structures can be mapped bijectively onto each other by some diffeomorphism. this problem can be considered in many different contexts, such as ...

abstract sensitive and precise voltammetric methods for the determination of trace amounts of furaldehydes, mainly as furfural (f) and 5-hydroxymethyl-2-furaldehyde (hmf), in waste waters and other matrices is described. determination of total furaldehyde at < ?g g-1 levels in alkaline buffered aqueous media was individually investigated. by the use of ordinary swv and adsorptive square wave ...

abstract ion selective electrodes (ises) are electrochemical sensors that respond selectivity to the activity of ionic species. an ion-selective electrode is an electrochemical device that uses a thin selective membrane or film as the recognition element, and is an electrochemical half-cell equivalent to other half-cells of the zeroth (inert metal in a redox electrolyte). in common methods o...

this thesis basically deals with the well-known notion of the bear-invariant of groups, which is the generalization of the schur multiplier of groups. in chapter two, section 2.1, we present an explicit formula for the bear-invariant of a direct product of cyclic groups with respect to nc, c>1. also in section 2.2, we caculate the baer-invatiant of a nilpotent product of cyclic groups wuth resp...

the major aim of this study was to investigate the relationship between iq, eq and test format in the light of test fairness considerations. this study took this relationship into account to see if people with different eq and iq performed differently on different test formats. to this end, 90 advanced learners of english form college of ferdowsi university of mashhad were chosen. they were ask...