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...

nowadays, the development of anti cancer drugs is an important subject in pharmacology. bisphosphonates (b.p) are a great choice for design and production of the types of drugs which not only could perform as anti cancer agents but also could inhibit the function of acetyl cholinesterase (ache). ache hydrolyzes the acetylcholine (which is a neurotransmitter in nervous system) using the oh in i...

cultural iran is a scope that is more extended than the political territories of iran as a political unit. this concept means that cultural geography(mehdi moghanlo-1383-1) of iran is greater than its political geography which, according to history, has a long history extending west-east from kandahar to the euphrates and north-south from the persian gulf to the caucasus including transoxiana a...

1.0 overview it seems that grammar plays a crucial role in the area of second and foreign language learning and widely has been acknowledged in grammar research. in other words, teaching grammar is an issue which has attracted much attention to itself, and a lot of teachers argue about the existence of grammar in language teaching and learning. this issue will remind us a famous sentence f...

gol-e-gohar iron ore mine of sirjan in southern part of iran is a large open pit that operates below the groundwater table and during mining operation, dewatering is required to prevent operation processes from flooding. current operation is going on by digging wells in or out of the pit and pumping to prevent flooding. as a result of the former dewatering operation a vast deep cone of depressi...

مراتع حدود نیمی از خشکی های جهان را در بر دارند و پوشش گیاهی آن در نتیجه تأثیر متقابل محیط و موجودات زنده به وجود آمده است و به عنوان یک اکوسیستم طبیعی مدیریت می شوند. علاوه بر مراتع، راه ها در عصر حاضر نیز از اجزا مهم و زیرساخت های اصلی زندگی نوین و توسعه کشورها به شمار می روند. جاده ها ساخته دست بشر هستند و جوامع گیاهی کنار جاده تحت تأثیر ساخت و ساز قرار دارند. پوشش "رودرال" به مجموعه ای از پ...

in the name of allah , the compassionate the merciful abstract shath ( blasphemic utterace made during spiritual ) is a complicated concept that deserves reflection in gnosticism and sufism ( mysticism ) and estem and westem scholars have alwaya paid attention to it. although principal essence of gnostic belief is the holy divine law ,gnosticism has pure and unique thoughts . by glancing at t...

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...

there has been a gradual shift of focus from the study of rule systems, which have increasingly been regarded as impoverished, … to the study of systems of principles, which appear to occupy a much more central position in determining the character and variety of possible human languages. there is a set of absolute universals, notions and principles existing in ug which do not vary from one ...