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.
جاء التقويم ليكون مكملا للعمليات التعليمية يساعد على الوقوف على نتائجها وسبل النهوض بها والوقوف على المعوقات التي تقف امام مسيرتها وقد عنيت عمليات التقويم باهتمام كبير من قبل القائمين على العمليات التعليمية اذ عقدت العديد من المؤتمرات والندوات واجريت العديد من الدراسات عالميا ومحليا من اجل الوقوف على هذه العملية المهمة الداعمة للتعليم والنهوض بمستويات المتعلمين ، ومن بي
... Show Moreيعد التحليل العاملي Factor Analysis أحد الأساليب الإحصائية المهمة والتي يصعب تنفيذها يدويا ً أو بالألات الحاسبة الصغيرة لذا لاقى الباحثين صعوبة في إستخدامه في البداية بل كان من المستحيل القيام به ، لذا فالمؤلف قد تناول التحيلي العاملي الاستكشافي لكونه إسلوب إحصائي يستخدم في تحليل البيانات ويتطلب شروطا ً لأستخدامه ودقة في مراعاة هذه الشروط ويتطلب أيضا ً معايير يجب أن يتأكد الباحث من توافرها في البيانات وهذا ما تم ت
... Show MoreThe wisdom of the Creator ensures the call of every prophet with a miracle that would be something beyond what is familiar from the customs
Footnotes are considered as an important phenomenon in the lectures of grammar. Al-Khudari's footnote is one of the most distinguished one other than its counterparts due to the prestigious and scientific status of its author
The research studies the semantic generation structures of
commodity names in the Baghdad dialect of Arabic, specifically
those names that reflect popular taste. Through descriptive field
studies of the social use of these words
Anhdralazuri of Yazour a village Ramle Palestine, from a religious family of Abu Mohammed Yazouri arrived in Egypt in the year (439 AH / 1036 AD), and was aimed from behind, returned him to his previous position to assume spend Ramle, Fasttaa a senior statesmen to provide Abu Muhammad Yazouri L. Caliph assuming start, Vtm him so, raising its standing and became MetwallyDiwan or caliph, in the year (441 AH / 1049 AD) was assigned the Chief Justice did not stop at that, but the era of his post of the ministry a year (442 AH / 1051 AD), having proven merit in every Matulah, The minister Yazouri of the powerful minister aspiring and employers pens won several titles did not collect it for one by the judiciary, advocacy and ministry granted C
... Show MoreThe message of the Kurdish tag tagged with(Mada alfay fi taqrir lays kamithlih shay) one of his most prominent scientific messages in the door of faith, especially in the matter of the unification of the divine self and its distancing from all analogies and representations and the importance of this message historically, due to its documentation of a stage in the development of Islamic speech thought, where the logical method was taken over the minds of the intellectuals of Islam, including the kurani, whether it is in understanding the quranic and modern meaning or as a way of convincing me towards the opponent.
The Kurd was able to use logical concepts to marginalize the difference between grammarians and interprete
... Show MoreThe calamities, calamities, problems and constant dilemmas that society is experiencing have made it the responsibility of professors and researchers to find appropriate and effective solutions to these issues, and among those calamities that our societies faced was the problem of the epidemic represented by (Corona-Covid-19)