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...

deployable scissor type structures are composed of the so-called scissor-like elements (sles), which are connected to each other at an intermediate point through a pivotal connection and allow them to be folded into a compact bundle for storage or transport. several sles are connected to each other in order to form units with regular polygonal plan views. the sides and radii of the polygons are...

the major purpose of this study was to develop the translation teacher competency test (ttct) and examine its construct and predictive validity. the present study was conducted in two phases: a qualitative phase as well as a quantitative phase. in the first phase of the study, the author attempted to find out the major areas of competency required for an academic translation teacher. the second...

current studies in second language (l2) learning have revealed the positive role of corrective feedback (cf) in both oral and written forms in different language features. the present study was an attempt to investigate the effect of both direct and indirect written corrective feedback (wcf) on the use of grammatical collocations in l2 writing. the study also sought to examine whether the effec...

today, scouring is one of the important topics in the river and coastal engineering so that the most destruction in the bridges is occurred due to this phenomenon. whereas the bridges are assumed as the most important connecting structures in the communications roads in the country and their importance is doubled while floodwater, thus exact design and maintenance thereof is very crucial. f...

background: organic nitrates relax all kinds of smooth muscle , not only vascular smooth muscle , a fact that has allowed the use of these drugs to treat many different aliments. objective.-the purpuse of this study was to examine prosepectively benefical effects , if any, of sublingual nitroglycerin on the pain of renal colic. design.- prospective , randomised , double blind, placebo- contoled...

in his last years of life americans had almost forgotton steinbeck, and those who had not, occasionally criticized him for supporting and praising the u. s. military intervention in the vietnam war. althought ateinbeck incorporates different themes into his works, each one bears many signs of his concern and sympathy for america and the american common people in particular. steinbecks to a god ...

the present study aimed to investigate the possible effects of focused highlighted error feedback on grammatical accuracy of writing among iranian intermediate efl learners. after selecting 52 homogenous participants from among 70 university students attending azad university of rasht and randomly dividing them into two intact groups of 26 students, the researcher exposed the participants of th...

in this study, scour of mashkid bridge pier located in mashkid river of saravan county has been studied and to measure the scour rate, the numerical model hec-ras 4.0 has been used. upon selection of mashkid river as the case study and whereas the studied zone is important with respect to the climatic conditions and showery monsoon raining and flowing the great and destructive floodwaters, ther...