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 significant problem in multicarrier communication systems is the necessity to reduce the value of papr (peak-to-average power ratio) of transmitting signal. in this thesis we study the effect of the system parameters such as coding and modulation types on papr and ultimate ber in a mc-cdma system. in this study we consider fading channel as well as the nonlinearity of transmitter’s amplifier ...

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 ...

abstract the third millennium has started, but the world is facing with serious challenges in achieving international security and peace. various human rights violations have lead the states to find means to protect human rights. also article 55 of the united nations charter introduces the respect to human rights and fundamental freedom as the most suitable ways to realize peace and security. ...

translation studies have become an accepted academic subject and books, journals and doctoral dissertations appear faster than one can read them all (bassnet and lefevere, 1990). but this field also brought with itself so many other issues which needed to be investigated more, in the heart of which, issues like ideology, ethics, culture, bilingualism and multilingualism. it is reported that ove...

today the image of a permanent skeletal space of cities affected by some forces or mechanisms is put in time with social-economic development and while imposes a new face and perspective to physical anatomy of cities, and prepares field to changes in content and social- economic structures of cities too. simultaneously with quitting villages in order to settle in cities by villagers, the phen...

this experimental study has been conducted to test the effect of oral presentation on the development of l2 learners grammar. but this oral presentation is not merely a deductive instruction of grammatical points, in this presentation two hypotheses of krashen (input and low filter hypotheses), stevicks viewpoints on grammar explanation and correction and widdowsons opinion on limited use of l1...

abstract nowadays, industries cannot play a crucial role in national and international competitions. the tourism industry is no exception. tourism industry development as the most important economic sector and income generation is one of the key challenges of economic development in the world. therefore, countries were successful that take advantage of the capabilities of tourism sector using ...

in new management approaches, in the organizations with inflexible structure, existing of red tapes and interruptions caused by limitations and also non-compliance with environmental changes, create demotivation among staff. with regard to the influence of job motivational potential and its relationship to the type of organizational structure( enabling and dissuasive), the goal of this research...

this study focuses on tracing the clearly defined elements of magic realism in toni morrison’s song of solomon as an illustrious african american example of the mode. magic realism is a fictional technique that combines fantasy with raw physical reality in a search for truth beyond that available from the surface of everyday life. toni morrison, as a distinguished african-american practitioner ...