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...

recent years have witnessed an increased attention to form focused instruction and consciousness raising activities (ellis, 2002; doughty & williams, 1998) on the one hand and extensive and meaningful exposure to the target language (klapper & rees, 2003; day & bamford, 1998) on the other. due to significance attributed to above mentioned issues by scholars, this study attempted to bridge them ...

abstract the cr(iii) and zn(ii) complexes with 2-((9,10-dihydro-1-hydroxy-9,10-dioxaanthracen-4-yloxy)carbonyl)benzoic acid as ligand have been prepared by reacting cr(no3) and zn(no3)2 and ligand in cloroform. the cr and zn complexes with 2-((9,10-dihydro-1-hydroxy-9,10-dioxaanthracen-4-yloxy)carbonyl) were also prepared in chloroform and aceton solutions. the uv-visible and ft-ir spectra of...

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 ...

the purpose of this study is to investigate and explore the causes of identity crisis as one of the debilitating consequences of colonial project after the withdrawal of colonial power. in order to do justice to the full-length severity of displacement that was the fruit of indentureship, v. s. naipauls west indian epic, a house for mr biswas, has been scrutinized with the main focus being the ...

vocabulary as a major component of language learning has been the object of numerous studies each of which has its own contribution to the field. finding the best way of learning the words deeply and extensively is the common objective of most of those studies. however, one effective way for achieving this goal is somehow neglected in the field. using a variety of activities such as games can r...

to explore the idea the investingation proposed, aimed at finding whether the performances of the population of iranians students studying english in an efl context are consistent in l1 and l2 writing taks and whether there is a cross-linguistic transfer in this respect. in this regard the subjects were instructed to write four compositions-two in english and two in farsi-which consisted of an ...

in this study, scour of mashkid bridge pier located in mashkid river of saravan county has been studied and to measure the scour rate, the numerical model hec-ras 4.0 has been used. upon selection of mashkid river as the case study and whereas the studied zone is important with respect to the climatic conditions and showery monsoon raining and flowing the great and destructive floodwaters, ther...

since the modern art is chosen to discuss, it means a wide expansion of art courses are affected by modernism that enter to the new realms. because of expanded subject, lack of sources and also the close relationship between painting and animation, this thesis emphasizes on the painting and it is recommended to use the phrase “modern painting” instead of modern art (which is more general). thi...