The linear segment with parabolic blend (LSPB) trajectory deviates from the specified waypoints. It is restricted to that the acceleration must be sufficiently high. In this work, it is proposed to engage modified LSPB trajectory with particle swarm optimization (PSO) so as to create through points on the trajectory. The assumption of normal LSPB method that parabolic part is centered in time around waypoints is replaced by proposed coefficients for calculating the time duration of the linear part. These coefficients are functions of velocities between through points. The velocities are obtained by PSO so as to force the LSPB trajectory passing exactly through the specified path points. Also, relations for velocity correction and exact velocity solution are derived. Simulation results show that the engagement of modified LSPB trajectory with PSO to work well on the tested cases. This proposed method is very simple which can be used for on-line path planning, and not necessarily to use high acceleration magnitude.
البنية الاقتصادية الاجتماعية للادارة الجديدة في الولايات المتحدة الامريكية
The research dealt with the study (interpretation of space in the art of installation), and it is located in four frameworks, the first is devoted to clarifying the research problem, its importance and the need for it, its goal, and its limits, and determining the most important terms contained therein.The research problem was determined from the question, does space embody those different and diverse materials that were formulated and installed by the artist into modern forms? Is the product of synthetic arts an appropriation of these spaces and domination of them?The problematic of interpreting space in its conceptual dimension in (synthetic) art in its multiplicity, diversity and difference, or objecting to the work of artistic system
... Show Moreas important aspects emerged related to the management of the caliphate and how it was transferred, and the clarification of the political trends and transformations at the end of their lives. In addition, how the Rightly Guided
عرفت النظم القانونية انواعا مختلفة من الشركات اذ تعتبر الشركة الوعاء القانوني الاكثر ملائمة لغرض توظيف اموال المستثمرين في مشاريع ذات اهمية والذي يحقق نفا لاصحاب رؤوس الاموال المستثمرة فضلا عن اثرها البالغ على اقتصاد الدول وقد كان للشركة القابضة نصيب من هذا الاهتمام منذ القدم لدى العديد من الدول ووضعت لها احكاما تفصيلية تتناسب مع الاهمية التي يحظى بها هذا النوع من الشركات كونها تجمع لعدة شركات فرعية تسيطر ع
... Show Moreالحمد لله رب العالمين والصلاة والسلام على سيد المرسلين أبي القاسم محمد (صلى الله عليه وآله وسلم ) وعلى آله الأطهار الميامين ، وصحبه الأبرار المنتجبين إلى يوم الدين 0
وبعد : فإن أجلّ ما بأيدي أبناء هذه الأمة القرآن كتاب ربّها ، الناطق بمصالح دينها ودنياها ، الذي جعله الله تعالى هدىً ورحمةً للعالمين ، وأنزله على خير خلقه من عباده محمّد الصادق الأمين ، وحث المسلمين على أتباعه ، وأمرهم على ل
... Show MoreDesde la Salamanca de doradas piedras que tantas veces cantara, don Miguel de Unamuno dio a la literatura y al pensamiento españoles unas obras que, a pesar de muchos pesares, perdura viva, como viva fue su agónica existencia.
El bilbaíno Miguel de Unamuno (1864-1936) es autor de al menos, doce obras teatrales. Su costumbre de mezclar géneros literarios, sin distinguir claramente el drama de la novela dialogada, le llevó a preferir el teatro leído. De ahí que sus estrenos fuesen, frecuentemente, muy posteriores a las ediciones impresas.
Abstract:
The Bilbao Miguel de Unamuno (1864-1936) is the author of at least twelve plays. His habit of mixing genres,
... Show MoreThe current study entitled (the influence of heritage in the ceramic sculpture of the America Potter Paula Rice)
The study is based on four chapters:
Chapter I included structural find of clarification of the research problem and its importance, also included a mention of the research limits and the aim of this study, which is:
-Identify sculptures Ceramic affected ranges for Potter Paula Rice civilization heritage of intellectual and artistic, whether global or local.
-Trying to detect and intellectual influences the formalism of inherited and which resulted in the latest version of the unfinished ceramic artist.
-Did the artist callback method to the values inherent succeeded in the embodiment of the meaning of originali
Abstract This study seeks to deal academically with how the EU treats clandestine immigration, through adopting a purley security approach, based on the European understanding of security threats posed to the security of communities and States in EU at all levels. So they agreed upon criminalizing this threat within the bloc while using repressive tools and steps to limit illegal immigrants flow to European territories. Accordingly, the EU gave the phenomen a security character. So it takes it from low politics level , that of employment and economic field to that of high politics, as a new security problem lying within a new security language embraced by ruling European elites, in other words EU touched on this issue as a speech act emp
... Show Moreالعلوم السياسية في العراق بداياتها ، نشأتها ، تطورها ، ومفرداتها التدريسية