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...

in this thesis, a better reaction conditions for the synthesis of spirobarbiturates catalyzed by task-specific ionic liquid (2-hydroxy-n-(2-hydroxyethyl)-n,n-dimethylethanaminium formate), calcium hypochlorite ca(ocl)2 or n-bromosuccinimide (nbs) in the presence of water at room temperature by ultrasonic technique is provided. the design and synthesis of spirocycles is a challenging task becaus...

the main purpose of the present study was to investigate the relationship between listening proficiency and metacognitive listening strategies awareness among low, mid, and highly self-regulated students. three hundred and seventy one efl students participated in this study (all grade 3 and 4 high-school students who were studying in khansar in academic year 1391-92). to gather the data, three ...

abstract biometric access control is an automatic system that intelligently provides the access of special actions to predefined individuals. it may use one or more unique features of humans, like fingerprint, iris, gesture, 2d and 3d face images. 2d face image is one of the important features with useful and reliable information for recognition of individuals and systems based on this ...

attempts have been made to study the thermodynamic behavior of 1,3 butadiene purification columns with the aim of retrofitting those columns to more energy efficient separation schemes. 1,3 butadiene is purified in two columns in series through being separated from methyl acetylene and 1,2 butadiene in the first and second column respectively. comparisons have been made among different therm...

the present research was conducted to explore the effect of employing two language teaching approaches, i.e. schema-based instruction (sbi) and translation-based instruction (tbi), on vocabulary knowledge, structure and reading comprehension ability of forty one female students learning english in grade one senior high school in rivash, kuhsorkh, iran. while sbi focuses on schemata, i.e. words ...

دراین پروژه به بررسی مدل سازی خشک کردن مواد غذایی با استفاده از هوای خشک در خشک کن آزمایشگاهی نوع سینی دار پرداخته شده است. برای آنالیز انتقال رطوبت در طی خشک شدن به طریق جابجایی، یک مدل لایه نازک برای انتقال رطوبت، مبتنی بر معادله نفوذ فیک در نظر گفته شده است که شامل انتقال همزمان جرم و انرژی بین فاز جامد و گاز می باشد. پروفایل دما و رطوبت برای سه نوع ماده غذایی شامل سیب زمینی، سیب و موز در طی...

Abstract. Since the misery index directly affects the welfare of society, it is of great economic and political importance and one of the most important criteria for measuring the success and survival of governments depends on their success in reducing inflation and unemployment and strengthening economic stability and growth. Based on the benefits of examining the misery index and its importan...