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...

deployable scissor type structures are composed of the so-called scissor-like elements (sles), which are connected to each other at an intermediate point through a pivotal connection and allow them to be folded into a compact bundle for storage or transport. several sles are connected to each other in order to form units with regular polygonal plan views. the sides and radii of the polygons are...

abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...

‏‎the main purpose of this research was to:1.develop a coking model for thermal cracking of naphtha.2.study coke inhibition methods using different coke inhibitors.developing a coking model in naphtha cracking reactors requires a suitable model of the thermal cracking reactor based on a reliable kinetic model.to obtain reliable results all these models shall be solved simultaneously.for this pu...

in iran we already use laminate tubes only in cosmetics industry. laminate tube manufacturers via using the most modern technology of the world, faced with the laminate tube market being saturated in cosmetics industry for packaging the cosmetic creams and toothpaste. but considering the great food market and therefore laminate tube features such as beautiful packaging, ease of use for the fina...

the present research was an attempt to see how quranic lexical collocations were translated into english by two professional translators namely, abdullah yusuf(2005), and muhammad s. shakir(2012). the study attempted qualitatively to shed light on how translators dealt with quranic lexical collocations when transferring them to the target language based on the newmark(1988) model , and quantit...

the present research study attempted to find out the extent to which two pre-task activities of “glossary of unknown vocabulary items” and “content related support” assisted efl language learners with their performance on listening comprehension questions across two different proficiency levels (low and high). data for this study were obtained from a total of 120 language learners, female and m...

sange siyah dam is located two kilometers down the kabod khani village. the environ of ghorrve city in kurdestan province. this is an clay core dam. in this dam instrumentation is performed in three section and consist of electrical piezometers, total pressure cells, settlement cells and so on. the main objective of instrumentation is to control the behavior of dam body and foundation, end else...

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 ...

چکیده هدف اصلی این پژوهش شناسایی الزامات نظام مدیریت کیفیت فراگیر در حوزه پژوهشی دانشگاه اصفهان بود. سوالهای پژوهش با توجه به مولفه های مدیریت کیفیت (تعهد مدیران، بهبود مستمر فرایندها ، مشتری محوری ، منابع انسانی ، مدیریت اطلاعات ، زیرساختهای کیفیت ، استفاده از نتایج ، انعطاف پذیری، مشارکت در فعالیتهای پژوهشی، ایجاد فرهنگ کیفیت و تناسب ساختارهای سازمانی) که بر اساس مطالعه استانداردهای بین المل...