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...

flow in natural river bends is a complex and turbulent phenomenon which affects the scour and sedimentations and causes an irregular bed topography on the bed. for the reason, the flow hydralics and the parameters which affect the flow to be studied and understand. in this study the effect of bed and wall roughness using the software fluent discussed in a sharp 90-degree flume bend with 40.3cm ...

چکیده : آرای صادره از دادگاه ها علاوه بر شیوه های عادی از طریق فوق العاده نیز قابل اعتراض و رسیدگی مجدد هستند. در مواقعی که رای دادگاه مخل به حقوق ثالث باشد وی می تواند به ان اعتراض کند. قلمرو شمول اعتراض ثالث به تصمیمات قضایی که از آن به رای تعبیر شده محدود می گردد. ولی در مورد قرارها که به اعدادی و نهایی تفکیک می شوند، چون هیچ رویه ثابت و مشخصی در این زمینه در دادگاهها وجود نداشته و همچنین ا...

abstract: the present study is about prophet ishmael, some parts of his life; his personality in the quran and the bible; and the comparison of the content of these two religious books. compilation of the study has been done with a new perspective and new presentation approach. since prophets have been human beings’ role model and their life has been a perfect example for humanity in all ages,...

‏‎applications such as high definition viedeo reproduction, portable computers, wireless, and multimedia demand, and ever-increasing need for ligh-frequency high-resolution and low-power analog-to-digital converters. flash, two-step flash, and pipeline convertors are fast but consume large amount of power and require large area. to overcome these problems, successive approximation converter blo...

this study was conducted to investigate the effect of favorite-text on iranian intermediate efl learners’ vocabulary development. sixty learners from nour-al-mahdi english institute participated in the present study. having been homogenized by oxford placement test (opt), they were randomly assigned into two groups of 30, control and experimental. then both groups sat for a pre-test which was a...

due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...

abstract following innovations in the field of elt, a new topic which has recently attracted a lot of attention is metaphor analysis. although this area of research is still in its infancy in elt, it seems that the idea can shed more light on the puzzle of english language learning and teaching. therefore, the major aim of this study is to analyze language learning and teaching in formal a...

nowadays in trade and economic issues, prediction is proposed as the most important branch of science. existence of effective variables, caused various sectors of the economic and business executives to prefer having mechanisms which can be used in their decisions. in recent years, several advances have led to various challenges in the science of forecasting. economical managers in various fi...

hydrochlorothiazide (hct) is a diuretic agent which is shown to be effective in the treatment of hypertension. literature reports have demonstrated that urinary excretion data may be used to assess the bioavailability of various formulations containing this thiazide. also hct consumption by the athletes is one of the drugs which should be regulated by world anti-doping agency (wada), because of...