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...

In recent century, urban development has caused be numerous changes in spatial structure of Iranian cities. One of the most changes has occurred in the relationships between urban elements and effect on grand the mosque functional spatial characteristics. Sabzevar grand mosque is one of the important elements of the historic city with religious and social function and had important role in urba...

Recent studies have shown that urban complex behaviors like human mobility should be examined by newer and smarter methods. The ubiquitous use of mobile phones and other smart communication devices helps us use a bigger amount of data that can be browsed by the hours of the day, the days of the week, geographic area, meteorological conditions, and so on. In this article, mobile cellular data mi...