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...

it is not possible to understand developments of a country’s culture and civilization without knowing his believes and myths. whether it is north or south, east or west, planes or mountains, sahara or deserts, here in iran every corner includes valuable and precious treasures which are known all over the world, and cultural – historical objects which are found here adorn all well known museums...

in the name of allah , the compassionate the merciful abstract shath ( blasphemic utterace made during spiritual ) is a complicated concept that deserves reflection in gnosticism and sufism ( mysticism ) and estem and westem scholars have alwaya paid attention to it. although principal essence of gnostic belief is the holy divine law ,gnosticism has pure and unique thoughts . by glancing at t...

abstract abstract of thesis (includes summary, goals, execution methods, and results) story “al-obnosat al-bayza” is one of the short stories from “hanna mineh” collection. this story is a selection of lives of some humans during a voyage together, each of them is a symbol of human nature (love, mind, kindness) and examine social, cultural, and political aspects of governing system, and it...

the present thesis is a study of postmodern historical novel with respect to the voice of women. according to postmodern historiography,the established institution of history is one of the other manifestations of patriarchys power which has silenced women. the study analyzes angela carters nights at the circus as a postmodern historical novel which makes its female characters transgress the pat...

this work is presented in five parts. in the first part preparation of the starting complex [pt(c^n)cl(dmso)], 1, in which c^n = n(1),c(2?)-chelated, deprotonated 2-phenylpyridine, and dmso = dimethylsulfoxide, and its reaction with 1 equiv of the biphosphine ligands bis(diphenylphosphino)amine, dppa, or bis(diphenylphosphino)methane, dppm, to give the complex [pt(c^n)cl(dppa)], 2, or [pt(c^n)c...

‏‎the community dynamics of aquatic coleoptera(insecta)in one of the spring-stream habitats of bammo national park in fars province called cheshmeh-ye-ghanbari is studied as a pilot project and model for acquaintance with and furthering the biodiversity studies on fauna of iran. sixteen species-populations out of nineteen of this community were already identified for their taxonomy and for thei...

in chapter one we will describe definitions and preliminary results to provide the global context of our own results to be presented in detail in the subsequent chapters in chapter two we consider degree-one maps of the circle and we study their rotation set. our main result in this chapter says that if the map is topologically mixing then its rotation interval is nontrivial (that is, not reduc...

the aim of this study has been to find answers for the following questions: 1. what is the effect of immediate correction on students pronunciation errors? 2. what would be the effect of teaching the more rgular patterns of english pronunciation? 3. is there any significant difference between the two methods of dealing with pronuciation errore, i. e., correction and the teaching of the regular ...

abstract the present study was conducted to examine the effect of proficiency on students interaction while carrying out the grammar-based task(s) in collaboration. in particular, the study examines whether the level of proficiency affects the learners’ focus of attention to grammatical and lexical features. the study takes a further step and examines whether there is any difference in the use...