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...

a major concern in the last few years has been the fact that the cultural centers are keeping distance with what they have been established for and instead of reproducing the hegemony, they have turned into a place for resistance and reproduction of resistance against hegemony. because the cultural centers, as urban public spaces in the last two decades, have been the subject of ideological dis...

abstract: in this thesis, we focus to class of convex optimization problem whose objective function is given as a linear function and a convex function of a linear transformation of the decision variables and whose feasible region is a polytope. we show that there exists an optimal solution to this class of problems on a face of the constraint polytope of feasible region. based on this, we dev...

legal establishment of court is the birth of social life; each person should define him/herself against others offence or violation. when a society forms and the legal character appears, the thought of society refers to a person name prosecuting attorney who is the president of the court for defending his/her rights. prosecuting attorney remindterms such as court, crime and punishment. accordi...

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 ...

abstract: mineral scaling in oil and gas production equipment is one of the most important problem that occurs while water injection and it has been recognized to be a major operational problem. the incompatibility between injected and formation waters may result in inorganic scale precipitation in the equipment and reservoir and then reduction of oil production rate and water injection rate. ...

cultural iran is a scope that is more extended than the political territories of iran as a political unit. this concept means that cultural geography(mehdi moghanlo-1383-1) of iran is greater than its political geography which, according to history, has a long history extending west-east from kandahar to the euphrates and north-south from the persian gulf to the caucasus including transoxiana a...

abstract in aggregate, active forms of reactive silica with mineral names are sometimes associated with sand and gravel in concrete mixture. alkali hydroxides originated from alkalis in the cement or other resources form an alkaline silica gel with this reactive silica which becomes swallowed and expanded during time causing damage to concrete. there have been growing researches on alkaline r...

the present research was conducted to accomplish two purposes. firstly, it aimed to explore and describe schematic structure or what halliday and hassan (1989, p.64) have called “generic structure potential” (gsp) of american english, iranian persian and iranian english newspaper editorials within systemic functional linguistics. secondly, a quantitative cross-comparison was made to investigate...

به طور کلی در فرآیندهای مارکوف ارگودیک دو بعدی یافتن فرم بسته توزیع ایستا، تنها برای حالات خیلی خاص امکان پذیر است. با توجه به این مشکل و نیز با توجه به اهمیت توزیع ایستا، بررسی و مطالعه رفتار مجانبی توزیع ایستای این فرآیندها مورد توجه قرار گرفته است. زنجیر قدم زدن تصادفی دو بعدی که در برخی متون به آن، فرآیند qbd دو طرفه نیز می گویند، یکی از این فرآیندها است. یک فرآیند qbd زمان گسسته یک زنجیر م...