This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control. The wall-following task is usually used to explore an unknown environment. The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC), Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC). The proposed wall-following controller has three characteristics: the mobile robot keeps a distance from the wall, the mobile robot has a high moving velocity, and the mobile robot has a good robustness ability of disturbance. The proposed BFC will be used to control the real mobile robot. The Pioneer 3-DX mobile robot has sonar sensors in front and sides, and it is used in this study. The inputs of BFC are sonar sensors data and the outputs of BFC are robots left/right wheel speed. Experimental results show that the proposed BFC successfully performs the mobile robot wall-following task in a real unknown environment.

In description of the concept of identity and communications and their feed back toward city, what required an independent and comprehensive debate, is a following questionnaire of the physical aspect of city and identity, however, a question evokes that whether this is physical aspect of city following identity or identity following physical aspect? This paper pointing some definitions and concepts related to the concept of identity, probes into this fundamental question. In current study, analytic-descriptive research method is applied so as to find an answer for the question regarding "logical reasoning". Forwards and in a logical and deductive reasoning approach, it studies the presentational issue.Results of the current study indicate that identity of city is somewhat innate and internal affecting the physical aspect of city, and as a result, physical façade of those cities dependent on a specific culture and ideology become different from those of other cultures and structures. In fact it lies in a mutual relation that the physical aspect of city is shaped and then existing physical aspect causes continually and alterations and consequently sustainable changes in identity concepts and components of a state.

The aim of this study is to critically analyze the condolence message of Ayatollah Bayat Zanjani on the occasion of the Shah Cheragh terrorist incident. This message is selected purposefully due to its issuance under specific political, social, and security conditions of the country, as well as some researchers’ claims about its distinct composition. This study is qualitative in nature and employs a critical approach based on Fairclough's method of discourse analysis. The results indicate that in this condolence message, descriptive combinations of events are quantitatively abundant (both positive and negative) and qualitatively carry a heavier ideological and emphatic load. However, the author of the message, through the extensive use of descriptive phrases and an over-reliance on referential language in the form of negative verbs, vague pronouns, ambiguous references, etc., seems more intent on describing an undesirable social and political situation in the country rather than explicitly protesting the current stateBased on the interpretation and explanation of this condolence message, however, it can be inferred that although the author sought to condemn the killing of various individuals (without referring to the perpetrators) in all similar incidents (including in Sistan, etc.), the adopted stance essentially lacks a protest nature. The author, by avoiding direct confrontation with those who are in “power”, seems to position himself in a neutral stance.

current research is to critically analyze the discourse of world peace in the textbooks of the Iranian educational system based on the theory of identification by L& M. For this purpose, the textbooks between the years 1357-1392 (primary period and first period high school) have been analyzed. This article has been done with the combined method of analyzing the discourse of Fairclough, L &M and focusing on the following questions: What was the status of the world peace discourse in the educational documents of this era? What subjects are these educational materials trying to create? What role have the dominant political discourses in this era played in shaping the identity of these subjects? The findings show that the discourse of world peace in educational books and documents has been rejected due to the demarcation between Islamic and non-Islamic, internal and external. Power processes have tried to create militant and vengeful subjects with a military identity. The factor of persuasion of the subjects is the axiomatization of the ideologies of the revolution with an Islamic nature. Also, the educational content by inducing specific defense ideologies has formed pacifist identities in all individual, interpersonal, social and international dimensions.

Foucault introduces a new way of analysis of the social world while he does not make clear how to conduct research. However, it does not mean that Foucault did not leave any space to do a Foucauldian social research (or as he wishes, doing genealogies). Indeed, the manner of Foucauldian social research is an ongoing method (s) which is produced both by Foucault and a researcher. The researcher must read Foucault and then draw out some basic points on which she or he can establish a concrete research method. While he mainly focuses on the internal side of discourse and is uninterested in non-discursive elements in archaeology, he then shifts to an overall view in his genealogical works in which discursive and non-discursive elements lose their significant differences, and they are mingled in each other in a discourse. In this article I will map Foucault’s main theoretical and methodological points and articulate them in my own method of doing a research. In so doing, I touch on general aspects of discourse and discourse analysis, then I will describe Foucault’s method, next I will illuminate how practically to do a discourse analysis.

About two years after the Iraq-Iran war, and at a time when Iraqi-Iranian relations were neither war nor peace, Saddam Hussein as Iraq's top political leader, wrote letters to high-ranking Iranian officials. In the correspondences, he sought to portray himself as a pacifist seeking a peaceful solution to the Iraq-Iran crisis. Iranian officials replied obsessively to all the letters. The role of these letters was very important because they were written after the war that incurred heavy human and material losses between the two countries. At that time, officials of both countries were very careful and cautious in what to say and how to say it. Probably, it could be said that the war between the two countries had gone from a physical battle to an attempt at verbal persuasion. Therefore, it is important and necessary to examine and analyze these messages through critical discourse analysis. After reviewing the correspondences, it became clear that there was a dialectical connection between their ideology, power, and texts. The more socially and politically powerful the actor is, the more opportunity he has for linguistics, and in turn, has an effect on his display of power. Officials of both countries – even perhaps unknowingly - used the discourse components to strengthen and direct their discourse; components such as: polarization, reference, lexical options, participant characteristics, implicit signification, distance, and fallacy.

The present research sought to investigate the role and position of purification in educational discourses, namely, happiness, health and austerity discourse in comparison to Quranic discourse. The research method is qualitative focusing on inferential-analytic and comparative-analytic methodology. The population of the study consisted of the books, documents, and educational databases related to purification and discourse making. The sources which covered research parameters were purposefully selected and deeply studied. The findings revealed that in all three discourses, purification enjoys the highest position. In the happiness discourse the education process is twofold: a section on purification and a section on instruction. The position and role of purification equals that of instruction. In health discourse, purification is the whole process of education and enjoys an irreplaceable and invaluable position. In austerity discourse, instruction does not enjoy any position in the process of education since this perspective believes that purification is knowledge-inducer and does not need instruction. In this view the process of education is twofold: a section on purification and a section on tahlieh (decorate oneself with moral virtues); purification is both a precondition for actualization of tahlieh and aim of education. In Quranic discourse, the process of education is twofold: instruction and purification. Such discourse disagrees with discourse of austerity and that of health while close to that of happiness. Ultimately, in formal education, purification should equal instruction in terms of position and the necessary compatible plans should be provided.

The discourse of Nasserian nationalism in the fifties and sixties, the manifestation of the utopia and the place of realization of the suppressed Arabic human desires during the years of the rule of transnational and proxy systems were thought and in the face of other competing discourses such as liberalism and Islamic fundamentalism, it became the dominant discourse of the region; But over time, the duality in the slogan and action of this discourse became known to everyone. Moreover, as an imposed and hegemonic discourse, the emerging dictatorship of Arabic nationalism was forced. This article, using library data and critical discourse analysis method, first identifies the semantic system and components of Nasserian nationalism discourse based on the definitions of the two concepts of discourse and hegemony, and then aimed at integrating attitudes and behaviors of this discourse Nasserian nationalism is measured in textual and intertextual analysis. Data indicate that Nasserian nationalism focused most of its attention on the magnification and myth of Abdel Nasser and the hegemony of his intended political movement within the country, the region, and even the world. In other words, the point of Nasserian nationalism discourse, the integrated Arabic identity in Charisma, and the power of Abdel Nasser were summarized. Furthermore, taking advantage of the period of the absence of the Arab society from colonialism and corruption of the monarchy and relying on signs such as the Arab unity, the Arab nation, and other ideological and epic signals was an opportunity to legitimize its political status and authority over other regional discourses. Abdel Nasser used any tool for enemy and non-hostility and increased political and ideological conflicts in order to attract different strata of people to his discourse. Explaining the factors of formation, authority, and ultimately suppressing the discourse of Nasserian nationalism in the geopolitical environment of that time is the most important issue.

The decentered subjectivity which is studied by Paul Virilio is the result of modernity and humans' alienation from himself and the surrounding. The consequential detachment from the background human history by manifesting the unfolded and shattered human history, along with the humanistic spirit is studied. His revelation is studied here, through a discourse analysis in terms of two seemingly diverse, but essentially commingled and integrated discourse theories and subjectivity approaches including the dromological and panoptical discourses, based upon his theory of dromology and Foucault's theory of the panopticism, to investigate the relationship between identity formation and discourses, both of which are considered as the parts and parcels of modernism. Virilio argues the importance of technology in the life and destiny of human being as a cyborg and has challenged the power discourse through the combination of the two mentioned discourses, especially in international and war fields. The transition of panoptical discourse to dromological discourse is manifested in this study to emphasize on different elements at hand with speed acceleration to exert a supreme panoptical power over others.

These days randomized-based population optimization algorithms are in wide use in different branches of science such as bioinformatics, chemical physics and power engineering. An important group of these algorithms is inspired by physical processes or entities’ behavior. A new approach of applying optimization-based social relationships among the members of a community is investigated in this paper. In the proposed algorithm, search factors are indeed members of the community who try to improve the community by ‘ following’ each other. FOA implemented on 23 well-known benchmark test functions. It is compared with eight optimization algorithms. The paper also considers for solving optimal placement of Distributed Generation (DG). The obtained results show that FOA is able to provide better results as compared to the other well-known optimization algorithms.