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 rise and stublishment of safavid dynasty was depend on triangle of tasavof, tashayo and royalty, kings legitimized their power upon these. therefore for the understanding the functions of that period we must explore the role of this elements. although application and emphsise upon dignities such as; complete mentor (morshede kamel), deputy of absent imam (nayebe imame ghayeb), and god’s sha...

this thesis basically deals with the well-known notion of the bear-invariant of groups, which is the generalization of the schur multiplier of groups. in chapter two, section 2.1, we present an explicit formula for the bear-invariant of a direct product of cyclic groups with respect to nc, c>1. also in section 2.2, we caculate the baer-invatiant of a nilpotent product of cyclic groups wuth resp...

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...