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...

all analytical methods are generally based on the measurement of a parameter or parameters which are somehow related to the concentration of the species.an ideal analytical method is one in which the concentration of a species can be measured to a high degree precision and accuracy and with a high sensitivity. unfortunately finding such a method is very difficult or sometimes even impossible.in...

in reality, most structures involved in geotechnical engineering are three dimensional in nature, and although in many, plane strain or axisymmetric approximations are reasonable, there are some, for which 3-d treatment is required. the quantity of data, and the size of the various vectors and matrices involved in such analysis, increase dramatically. this has sever implications for computer r...

even though, to date, a lot of studies have been conducted on the subject of politeness theory, there are very few studies regarding the applicability of this theory to translation between english and persian which shows the reason behind conducting the present study. this study was carried out with the aim of highlighting whether there is any difference between english and persian methods of u...

a simple, sensitive and selective method for solvent extraction and spectrophotemetric determination of lanthanum (ii) europium (iii), and cerium (iii) is described , the rare earth metals are extracted into chloroform solution of n-phenylbenzohydroxamic acid (pbha) at ph 9-10 various parameters are studied to optimize the extraction conditions. the molar absorptivity is found to increase from ...

abstract according to increase in electricity consumption in one hand and power systemsreliability importance in another , fault location detection techniqueshave beenrecentlytaken to consideration. an algorithm based on collected data from both transmission line endsproposed in this thesis. in order to reducecapacitance effects of transmission line, distributed parametersof transmission line...