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...

since the 1960s the age effects on learning both first and second language have been explored by many linguists and applied linguists (e.g lennerberg, 1967; schachter, 1996; long, 1990) and the existence of critical period for language acquisition was found to be a common ground of all these studies. in spite of some common findings, some issues about the impacts of age on acquiring a second or...

seismic retrofit strategies have been developed in the past few decades following the introduction of new seismic provisions and the availability of advanced materials and methods. it can be observed that new approaches to deal with more lateral forces are more innovative and more energy absorbent. in line with this, there is a growing trend toward the use of steel shear walls as a system with ...

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 purpose of this study was to examine the status of supervision on departments’ heads at ferdowsi university of mashhad (fum) and realize some applied themes to provide a fit model for supervising departments’ heads in fum. the method was case study under a research category aimed for applied one. using purposive sampling, interviews were conducted with top fum managers, head departments, an...

the history of plant’s used for mankind is as old as the start of humankind. initially, people used plants for their nutritional proposes but after the discovery of medicinal properties, this natural ?ora became a useful source of disease cure and health improvement across various human communities. berberis vulgaris is one of the medicinal plants used in iranian traditional medicine. berberis ...

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...

1.1 introduction “i see translation as the attempt to produce a text so transparent that it does not seem to be translated. a good translation is like a pane of glass. you only notice that it’s there when there are little imperfections- scratches, bubbles. ideally, there shouldn’t be any. it should never call attention to itself.” “norman shapiro” (venuti, 1995:1) edward fitzgerald is the br...

the significance of the study of deixis was then mentioned. the purpose of the present study from the outset was to provide a comprehensive overview of all kinds of deixis in persian, describing and defining each in true while considering them structurally and semantically. chapter two consisted of two main parts. a review of the english studies in this respect, besides presenting persian liter...

in this thesis, phosphorus ylides [phbppy], [no2bppy] and [brbppy] have been synthesized through the formation of phosphonium salt and dihydrogenation, followed by the reaction of pd(oac)2 and the orthopalladated dinuclear complexes [pd(?-cl)(phbppy)]2, [pd(?-cl)(no2bppy)]2 and [pd(?-cl)(brbppy)]2 have been produced. the reaction of dinuclear complexes and bidentate ligands [l = bipy (2,2-bipyr...