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...

muhammad ibn muhammad ibn numan, known as "shaykh mufid," one of the great imamiye theologians and jurists in the fourth and early fifth century , had comprehensive mastery of both rational and traditional topics and exerted his influence upon both his contemporary and future scholors. he is considered to be one of the top imamiye scholars who spent his lifetime teaching, learning and authorin...

with the increasing population and the need for more food, as well as with the development of science and technology, human approach to unnatural and often chemical inputs to increase agricultural production has been a great expansion and problems such as increased cancers, chronic diseases has created environmental pollution. implementation of organic organic is a solution to these problems . ...

abstract: postmethod is a newly developed pedagogy which as an alternative to method rejects the notion of good or bad methods and the concept of best method that can be generalized and appropriate for all contexts. instead, it treats each context as unique and one of a kind which cant be compared with other cases. this study is a postmethod-oriented one which investigates whether and how far t...

nowadays, technical terminology translation plays an important role in human life. specific groups of people all over the world refer to learn these terminologies in order to be familiar with a subject and improve their knowledge in that domain. on the other hand, saving the technical translation equivalent is a particularly salient challenge for technical translators. the present study was con...

objective: the objective of this study was to investigate the invitro fluoride release of four new self-adhesive resin cements; set (sdi, australia), breeze (pentron, usa), embrace wetbond (pulpdent, usa), g-cem (gc, japan) and to assess the bonding performance of these self-adhesive resin cements for bonding of orthodontic brackets. materials and methods: for fluoride release experiment, six ...

testing plays a vital role in any language teaching program. it allows teachers and stakeholders, including program administrators, parents, admissions officers and prospective employers to be assured that the learners are progressing according to an accepted standard (douglas, 2010). the problems currently facing language testers have both practical and theoretical implications but the first i...

‏‎applications such as high definition viedeo reproduction, portable computers, wireless, and multimedia demand, and ever-increasing need for ligh-frequency high-resolution and low-power analog-to-digital converters. flash, two-step flash, and pipeline convertors are fast but consume large amount of power and require large area. to overcome these problems, successive approximation converter blo...

126 abstract: in this research we studied the effects of cyclic hydration and dehydration of cysts of artemia urmiana and artemia parthenogenetica on the hatching percentage, survival and growth. the experiment was carried out in 3 treatments (1-3 hydration/dehydration cycles) with 3 replicates for each treatment. later effects of cold preservation at -20°c during three time periods were ...

boron nitride semiconducting zigzag swcnt, $b_{cb}$$n_{cn}$$c_{1-cb-cn}$, as a potential candidate for making nanoelectronic devices was examined. in contrast to the previous dft calculations, wherein just one boron and nitrogen doping configuration have been considered, here for the average over all possible configurations, density of states (dos) was calculated in terms of boron and nitrogen ...