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.
الملخص: لتحقيق أهداف البحث قامت الباحثتان ببناء مقياس للتفكك الاسري اعتمادا على نظرية (باندورا) وتكون بصورته النهائية من (24) فقرة ، وطبق المقياس على عينة البحث البالغة (150) تلميذ وتلميذة تم اختيارهم بالطريقة العشوائية البسيطة من مجتمع البحث ،وبعد جمع البيانات تم معالجتها باستعمال الوسائل الإحصائية منها الاختبار التائي، وتحليل التباين الرباعي والاختبار الفائي، وتوصل البحث الى النتائج الأتية :ان أفراد عينة ال
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The current research aims to determine the relationship of the impact of the components of the financing structure, especially financing through debts, as well as the earnings per share in the value of the shares of companies listed in the Iraq Stock Exchange. The research sample and identifying the strength of the combined effect of the ratio of financing through debt and earnings per share in maximizing The market value of the firm and the real value, as well as the variation between these relationships according to model of the real value of the companies and the market value of the research sample companies. The research community is represented by the Iraq Stock Exchange, while a conditional deliberate sample
... Show Moreيُعدّ الأشخاص ذوو الإعاقة أكبر أقلية في العالم وأكثرها حرمانًا، حيث تشير الإحصاءات إلى أن نحو مليار شخص، أي ما يعادل 15% من سكان العالم، يعانون من بعض أشكال الإعاقة، مع تزايد معدلاتها في البلدان النامية. وتشير الدراسات العلمية إلى أن ذوي الإعاقة قادرون على مزاولة العمل بإتقان ومثابرة، بل وقد تتفوق مهاراتهم أحيانًا على مهارات الأشخاص غير المعاقين، إذا تم اختيار العمل المناسب لقدراتهم ومواهبهم. كما أن حق العمل
... Show Moreتعد دراسة التراث العلمي العربي من الدراسات التي تلقي الضوء على التطور التاريخي للعلوم العربية وما أنجزته العقلية العربية في هذا الميدان للمدة التاريخية التي ابتدأت بعصر صدر الإسلام وانتهت بالخلافة ويرى الكثير من العلماء سواء كان
This research aims to measure the impact of applying bank governance mechanisms in reducing the financial risks of banks listed on the Palestine Stock Exchange, and to answer research questions and test hypotheses for the study, researchers adopted the descriptive and analytical approach, and data were collected from the annual financial reports of the banks listed on the Palestine Exchange during the period between (2009-2018), as a time series for the purpose of finding, analyzing and measuring the effect between the study variables during this period by (60) views for each of the study variables, using the statistical analysis program views(9) to enter, process and analyze the data. The results of the study proved that there i
... Show MoreSi le rire est censé être le propre de l'homme, il n'en est pas pour autant toujours signe d'intelligence. Qui n'a jamais eu honte d'avoir ri àune blague idiote ou méchante?
Il y a plusieurs façons de rire , ce qui fait que ce qui est comique pour les uns ne l'est pas pour les autres et que le comique réside moins dans l'objet ( situation, blague..) que dans le point de vue et dans l'interprétation que nous en ferons. " Le rire .. contient toutes les mélancolies humaines ([1]) ".
... Show Moreمما توصل إليه البحث :
إن الدوافع النفسية تنفرد في تجسيد الأحاسيس والمشاعر في نتاج الشاعر , من خلال رؤيته لتلك الحالة , فتسهم في صورة المقارنة في التشبيه , فتبعث في المتلقي حالة التأمل والمقارنة بين الحالتين اللتين تجمع بين مكوناتهما صفة واحدة فتصل إلى حالة التلاحم , ويكون ذلك باعثا لرسم صورة التشبيه ال
... Show MoreThe research aims to find out the impact of cognitive strategies in the mathematical competence of the students of the fourth scientific in the preparatory mahmoudiyah in the Directorate General of The Education of Karkh 2. A post-test of the mathematical competence prepared by (Jassim, 2018) was applied to the sample of (65) students, distributed into two groups of (33) students as experimental group and (32) students as a control group. The results found there are significant differences between the experimental group and the control group in testing the mathematical competence of students for the experimental group.
The study aims to identify the symptoms of PTSD among displaced Yazidi women according to age, marital status, educational level, and type of status (displaced or survivor). The study also seeks to identify the effect of the relaxation program on reducing PTSD among displaced Yazidi women. The research sample included (60) Yazidis for the statistical analysis sample and (5) for the experimental sample in the Dohuk governorate. For achieving the research objectives, a scale was used from the PTSD Checklist for DSM-5 (PCL-5), as well as a relaxation program was prepared. The researchers reached the following results that there is an average level of PTSD symptoms among displaced Yazidi women, there are no statistically significant differen
... Show MoreThe pause of AL-Hawra Zainab(peace be upon her) is a great opportunity to show the Muslim woman in combating injustice and tyranny, but we find the lack of knowledge of the leader of the media AL-Husseini(peace be upon