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 methods which are used to analyze microstrip antennas, are divited into three categories: empirical methods, semi-empirical methods and full-wave analysis. empirical and semi-empirical methods are generally based on some fundamental simplifying assumptions about quality of surface current distribution and substrate thickness. thses simplificatioms cause low accuracy in field evaluation. ful...

abstract given the importance of the text’s formal aspects, in addition to its content, poetry presents special challenges to translators. poetry has its own distinctive features that cannot be rendered into another language easily. the translation of poetry into poetry entails preserving the rhyme, figurative language and the general tone of the original. the present study was an attempt to i...

in fact, this study focused on the following questions: 1. is there any difference between the effect of functional/notional approach and the structural approaches to language teaching on the proficiency test of efl learners? 2. can a rather innovative language test referred to as "functional test" ge devised so so to measure the proficiency test of efl learners, and thus be as much reliable an...

colonialism is an important factor in cultural production and many of cultural constructs all over the world. english and english language teaching are at the center of the contemporary world. postcolonial literature, the genre achebe exercised, is a kind of historical text which has become central to different debates and criticisms. in this thesis, different elements related to the colonial...

after the soviet union dissolution, a chaotic period was begun in the russia. russia lost its glory and felt disgrace. the first group of elites came to power under yeltsin; they tried to re-define russia’s identity as a european country and build a foreign policy on this baseline. therefore russia tried to become closer with the west especially with the u.s. according to their view the sovie...

legal establishment of court is the birth of social life; each person should define him/herself against others offence or violation. when a society forms and the legal character appears, the thought of society refers to a person name prosecuting attorney who is the president of the court for defending his/her rights. prosecuting attorney remindterms such as court, crime and punishment. accordi...

reinsurance is widely recognized as an important instrument in the capital management of an insurance company as well as its risk management tool. this thesis is intended to determine premium rates for different types of reinsurance policies. also, given the fact that the reinsurance coverage of every company depends upon its reserves, so different types of reserves and the method of their calc...

this thesis deals with the construction of some function algebras whose corresponding semigroup compactification are universal with respect to some properies of their enveloping semigroups. the special properties are of beigan a left zero, a left simple, a group, an inflation of the right zero, and an inflation of the rectangular band.

in the first part of this thesis we explored wetting and its dynamics for small droplets. first, we showed how a simple feature of water droplets on a surface, i.e. laplace pressure, can be exploited to build a micropump. we investigated capillary pumping in microchannels both experimentally and numerically. putting two droplets of different sizes at the in/outlet of a microchannel, will ge...