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...

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...

from 1950s onward, new theories and critical approaches burgeoned across humanities. these theories were context-oriented; as a result, the analysis of discursive practices gained significance. thus, social, political, historical and cultural discourses that have been hitherto marginalized and considered inferior to literary texts, were introduced as important texts to be analyzed by critics. o...

abstract ion selective electrodes (ises) are electrochemical sensors that respond selectivity to the activity of ionic species. an ion-selective electrode is an electrochemical device that uses a thin selective membrane or film as the recognition element, and is an electrochemical half-cell equivalent to other half-cells of the zeroth (inert metal in a redox electrolyte). in common methods o...

in this thesis, a new optically active poly(amide-imide) (pai) was synthesized by the indirect polycondensation reaction of the l-phenylalanine based diacid chloride and 4,4?-diaminodiphenylether in the presence of triethylamine in n-methyl-2-pyrrolidone. the formation of pai was confirmed by ftir, 1h nmr and elemental analysis. in next step, the surface of titanium dioxide (tio2) nanoparticles...

run-out-table (rot) is located between last finishing stand and down coiler in a hot strip mill. as the hot steel strip passes from rot, water jets impact on it from top and bottom and strip temperature decreases approximately from 800-950 °c to 500-750°c. the temperature history that strip experience while passing through rot affects significantly the metallurgical and mechanical properties, s...

armenias geopolitics and its historical experience have had a determining impact on the character of its foreign policy .present-day armenia is a small, landlocked country with _11,620 square miles area armenias landlocked nature makes it dependent on the benevolence of its neighbors for access to the outside world a fact that gives it a sense of isolation and vulnerability. as it was indic...

purpose a metabolic abnormality such as obesity is a major obstacle in the maintenance of the human health system and causes various chronic diseases including type 2 diabetes, hypertension, cardiovascular diseases, as well as various cancers. this study was designed to summarize the recent scientific knowledge regarding the anti-obesity role of curcumin (diferuloylmethane), which is isolated f...

cement is an essential ingredient in the concrete buildings. for production of cement considerable amount of fossil fuel and electrical energy is consumed. on the other hand for generating one tone of portland cement, nearly one ton of carbon dioxide is released. it shows that 7 percent of the total released carbon dioxide in the world relates to the cement industry. considering ecological issu...