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...

today the image of a permanent skeletal space of cities affected by some forces or mechanisms is put in time with social-economic development and while imposes a new face and perspective to physical anatomy of cities, and prepares field to changes in content and social- economic structures of cities too. simultaneously with quitting villages in order to settle in cities by villagers, the phen...

abstract the current study sets out 1) to investigate the strategic needs of iranian efl learners in reading literary and non-literary texts; 2) to shed some light on the differences between reading literary and non-literary texts; and 3) to specify the differences in the interaction of participants with texts while reading two literary subgenres ( i.e., short story and literary essays). to ...

abstract previous studies on willingness to communicate (wtc) have shown the influence of many individual or situational factors on students’ tendency to engage in classroom communication, in which wtc has been viewed either at the trait-level or situational level. however, due to the complexity of the notion of willingness to communicate, the present study suggests that these two strands are ...

the history of plant’s used for mankind is as old as the start of humankind. initially, people used plants for their nutritional proposes but after the discovery of medicinal properties, this natural ?ora became a useful source of disease cure and health improvement across various human communities. berberis vulgaris is one of the medicinal plants used in iranian traditional medicine. berberis ...

implicit and unobserved errors and vulnerabilities issues usually arise in cryptographic protocols and especially in authentication protocols. this may enable an attacker to make serious damages to the desired system, such as having the access to or changing secret documents, interfering in bank transactions, having access to users’ accounts, or may be having the control all over the syste...

the current study examined iranian undergraduate efl students’ willingness to communicate with regard to their vocabulary knowledge. in general, participants were somewhat willing to communicate in english. the total mean score of 730 university students’ perception of willing to communicate was 83.53 out of 135. results, regarding four parts of willingness to communicate, revealed that part...

the significance of the study of deixis was then mentioned. the purpose of the present study from the outset was to provide a comprehensive overview of all kinds of deixis in persian, describing and defining each in true while considering them structurally and semantically. chapter two consisted of two main parts. a review of the english studies in this respect, besides presenting persian liter...

any change in the refractive index of a laser active medium can lead to serious degradation of beam quality, laser beam modes, laser performance and variation in the intensity distribution. alteration in the refractive index of laser active medium is especially notable in high power lasers. it is clear that in the laser beam production, the pumping agent induces a great amount of heat which...