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...

within communicative, interactive, and learner-centered framework of language teaching and learning, students need to learn four skills of listening, speaking, reading, and writing for their educational success. but of all the language skills, reading enjoys a paramount significance in so many second or foreign language academic contexts. in spite of its importance, language learners still have...

saluk mount is selected for devonian biostratigraphy. this area located at southwest of bojnurd. in this study three sections are selected and two sections, chahar-borj and tabar sections with a thickness of 650 m, which consist mainly of calcareous sediments was studied in detailed but third section, qelli section, with a thickness of about 450m which consist mainly of sandstone and evaporates...

دسته ای از ترکیبات شیمیائی که مخصوصا با گسترش زندگانی جدید (ماشینی)اهمیت فرآینده ای پیدامی کنند، افزودنیهای مختلف غذائی میباشند که در صنایع مربوطه بکار گرفته می شوند بکارگیری بخشی از این موا تحت عنوان طعم دهنده ها بمنظور تامین طعم و مزه طبیعی درفرآورده های صنعتی تقریبا اجتناب ناپذیر گشته و همگام با توسعه تولیدات روبه توسعه می رود. یک شناخت سیستماتیک و جامع از خواص و آثار اینگونه مواد طبیعتا مست...

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. ...

boron nitride semiconducting zigzag swcnt, $b_{cb}$$n_{cn}$$c_{1-cb-cn}$, as a potential candidate for making nanoelectronic devices was examined. in contrast to the previous dft calculations, wherein just one boron and nitrogen doping configuration have been considered, here for the average over all possible configurations, density of states (dos) was calculated in terms of boron and nitrogen ...