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 semi-empirical mathematical model for predicting physical part of ignition delay period in the combustion of direct - injection diesel engines with swirl is developed . this model based on a single droplet evaporation model . the governing equations , namely , equations of droplet motion , heat and mass transfer were solved simultaneously using a rung-kutta step by step unmerical method . the...

this study was an attempt to investigate the effect of subtitling on vocabulary learning among iranian intermediate students. to find the homogeneity of the groups, tofel test was administered to student in kish mehr institute in garmsar. after analyzing the data, 60 participants (female students) who scored within the range of one standard deviation above and below the mean, were selected as h...

muhammad ibn muhammad ibn numan, known as "shaykh mufid," one of the great imamiye theologians and jurists in the fourth and early fifth century , had comprehensive mastery of both rational and traditional topics and exerted his influence upon both his contemporary and future scholors. he is considered to be one of the top imamiye scholars who spent his lifetime teaching, learning and authorin...

in this thesis protic and aprotic ammonium-based ionic liquids were synthesized and their surface tensions were measured in the range of 298-373k. the protics are alkyl ammonium-based ils with the carboxylate (formate, acetate, propionate) anion and aprotics are quaternary ammonium-based ils with bis(trifluoromethylsulfonyl)imide anion. capillary rise method was used for surface tension measure...

seismic retrofit strategies have been developed in the past few decades following the introduction of new seismic provisions and the availability of advanced materials and methods. it can be observed that new approaches to deal with more lateral forces are more innovative and more energy absorbent. in line with this, there is a growing trend toward the use of steel shear walls as a system with ...

the following null hypothesis was proposed: h : there is no significant difference between the use of semantically or communicatively translates scientific texts. to test the null hypothesis, a number of procedures were taken first, two passages were selected form soyrcebooks of food and nutrition industry and gardening deciplines. each, in turn, was following by a number of comprehension quest...

abstract this thesis includes five chapter : the first chapter assign to establish fuzzy mathematics requirement and introduction of liner programming in thesis. the second chapter we introduce a multilevel linear programming problems. the third chapter we proposed interactive fuzzy programming which consists of two phases , the study termination conditions of algorithm we show a satisfac...

abstract the present study was conducted to investigate the effectiveness of a rather newly developed method in language teaching that is the use of paragraph reading task and whole reading task and their effects on improving efl learner’s speaking ability. to fulfill the purpose of the study, first 90 participants studying their course at sa eedi high school in tehran were chosen by means of ...

abstract: about 60% of total premium of insurance industry is pertained?to life policies in the world; while the life insurance total premium in iran is less than 6% of total premium in insurance industry in 2008 (sigma, no 3/2009). among the reasons that discourage the life insurance industry is the problem of adverse selection. adverse selection theory describes a situation where the inf...