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...

there is no doubt that human being needs to become integrated with industry and industry needs to be progressed, daily. on the other hand, serious events in industrial units specially in oil industries has been shown that such damages and events are industry related ones. the consequence of such events and damages which resulted in chemical and poisoned explosions and loss of life and property ...

this study was designed to investigate the impacts of teachers self-disclosure on students foreign language classroom anxiety, attitude to english language learning and their achievement scores at the end of the term. there were 48 female learners of intermediate level. they were not randomly selected. there were one experimental group with 21 students and one control group with 27 students.the...

the skill of reading in english as a foreign language is an important and challenging one which is affected both by linguistic and extra linguistic factors. since vocabularies are part and parcel of every reading comprehension text, knowing enough vocabulary always facilitates this process. however, guessing strategy as one of the most important strategies has consistently ignored by language l...

according to cheng (1999), in recent esl/efl literature, asian (especially east asian) learners of english as a foreign/second language have been arguably reported as reticent and passive learners. the most common allegations are that these students are reluctant to participate in classroom discourse; they are unwilling to give responses; they do not ask questions; and they are passive and over...

textbooks play a crucial role in language learning classrooms. the problem is that among the great quantity of available textbooks on the market which one is appropriate for a specific classroom and a group of learners. in order to evaluate elt textbooks, theorists and writers have offered different kinds of evaluative frameworks based on a number of principles and criteria. this study evaluate...

due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...

the primary goal of the current project was to examine the effect of three different treatments, namely, models with explicit instruction, models with implicit instruction, and models alone on differences between the three groups of subjects in the use of the elements of argument structures in terms of toulmins (2003) model (i.e., claim, data, counterargument claim, counterargument data, rebutt...

this study investigated the effects of planning on second-language written production with regard to task type. the participants were 75 iranian learners of english as a foreign language attending a private foreign language institution. they were asked to complete two different types of writing tasks (expository writing task and argumentative writing task) in different planned conditions (indiv...

in this thesis,spin dependend transport and electron transport through of ng/sg(graphene/ superconductor graphen) are studied in the junction of ng/fgt/sg. due to andreev reflection conductance increases in the presence of superconductor graphene.also, by applying a voltage gate on a superconductor, fermi level shifts and the conductance is independent of ferromagnatic substrate. also, the cond...