In a robotic soccer team, goalkeeper is an important challenging role, which has different characteristics from the other teammates. This paper proposes a new learning-based behavior model for a soccer goalkeeper robot by using Petri nets. The model focuses on modeling and analyzing, both qualitatively and quantitatively, for the goalkeeper role so that we have a model-based knowledge of the ta...

Inherent nonlinearities like, deadband, stiction and hysteresis in control valves degenerate plant performance. Valve stiction standouts as a more widely recognized reason for poor execution in control loops. Measurement of valve stiction is essential to maintain scheduling. For industrial scenarios, loss of execution due to nonlinearity in control valves is an imperative issue that should be t...

Cloud computing is a model for convenient on-demand user’s access to changeable and configurable computing resources such as networks, servers, storage, applications, and services with minimal management of resources and service provider interaction. Task scheduling is regarded as a fundamental issue in cloud computing which aims at distributing the load on the different resources of a distribu...

Abstract This article explores how the concepts of strucutral violence and cultural can explain institutionalization normalization in children’s lives Iran, including use death penalty, thereby providing a mechanism through which such be challenged. The paper reflects on an alternative to execution, payment blood money, diyah , mitigates but does not eradicate harms caused child offenders convi...

in their to implement international treaties – as the most important source of international law – member states are likely to face two questions: 1. as regards the interpretation of the concerned treaty, with whom does the competency and jurisdiction rest an international judicial authority or specific authorities of the member state? in the latter case, which authority will enjoy such compete...

Wireless sensor networks attracting a great deal of research interest. Accurate localization of sensor nodes is a strong requirement in a wide area of applications. In recent years, several techniques have been proposed for localization in wireless sensor networks. In this paper we present a localization scheme with using only one mobile anchor station and received signal strength indicator tec...