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.
The book "News of Time in the History of Bani Abbas" for Khazraji of important historical books, because of the news of the sons of Abbas, which is part of the book (Alosdp Almstok in the history of Islam, the layers of kings, ranked on the years starting from the emergence of Islam
The research aims to understand the psychological status of and the feeling of loneliness of the trainees (recently released detainees) participating in the training and rehabilitation courses held in the Technical College - Baghdad. The study was conducted on a specimen of (23) trainees. An open questionnaire was adopted which included one question that was ( What was your feeling psychologically and socially before taking part in the training course?) , also the feeling of loneliness Scale , designed by ( Russel,Peplau, Cutrona /University of California Los Angeles ) was implemented after the courses .
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... Show MoreOn the research that is marked by the historical development of the Supreme Federal Court in Iraq accordance with the issued legal legislations Research Submitted by Adel Amran Hamad Faculty Member, the college of Biotechnology
Insurance companies play a dual and vital role in the economy in which they operate in two directions. The first is to protect investments from the various risks that threaten them by paying compensation in the event of one of these risks, which prevents companies from leaving the economic cycle and achieving social benefit because of continuity of the company means continuity The payment of taxes to the state and the payment of salaries and wages to employees and employees, in addition to the economic ties in front and background, which integrate the company with other companies (that stop the company can lead to the cessation of other companies), the second trend is that the trap The insurance company obtains the amounts of insurance p
... Show MoreThe current study aims at investigating the effect of cooperative learning (Jigsaw) on motivation of female students. Department of kindergarten to learn Human biology. This is of be dove through verification of the hypothesis that there is no significant difference at the 0.05 level between the motivation of experiment of group subjects who study according to (Jigsaw) cooperative learning and that of the control group subjects who study traditionally.
The study is limited to female students al the first year-Department of kindergarten college of Education for women university of Baghdad during the academic year 2007-2008.
An experiment of design of partial control and post-test for two groups is used. The experiment groups consist
Single mode-no core-single mode fiber structure with a section of tuned no-core fiber diameter to sense changes in relative humidity has been experimentally demonstrated. The sensor performance with tuned NCF diameter was investigated to maximize the evanescent fields. Different tuned diameters of of (100, 80, and 60)μm were obtained by chemical etching process based on hydrofluoric acid immersion. The highest wavelength sensitivity was obtained 184.57 pm/RH% in the RH range of 30% –100% when the no-core fiber diameter diameter was 60 μm and the sensor response was in real-time measurements
The research aims to determine the impact of the use of teaching aids for the textbook and graphics teacher illustrations in the collection of historical information and retention, limited research on a sample of students in grade five numbered (68) primary school students of Benin in Baghdad governorate / Breeding Rusafa First, select the researchers of scientific material for students in research Topics are the first and second chapter of the Book of the Arab-Islamic history, set by the Ministry of Education.
And promising targets behavioral and according to the content of subject numbered (100) goal and lesson plans exemplary nu
... Show Moreعلى الرغم من تطور الدراسات التاريخية الخاصة بالمرأة بوصفها حقل معرفي مستقل بدأ منذ نهاية الستينيات من القرن الماضي .ونجاج الكاتبات والباحثات في العديد من بلدان الشرق الاوسط وشمال افريقيا في إعادة المرأة الى التاريخ، الا ان الكتابة التاريخية في العراق مازالت تعاني من نقص كبير في الموضوعات التي تناولت حياة النساء في الماضي. وما يزال الباحثات والباحثين ينظرون الى التاريخ على انه سردية للمعارك والحروب ويو
... Show MoreThis study aims to find out the impact of activities office provided to kindergarten children in the development of creativity in linguistic performance goal of capabilities (fluency, flexibility and originality) through the application of the test configuration Algheih Children Riyadh, which consists of (70) Single to measure the skills of language arts four a listening and speaking and a willingness to read and prepare for writing, was applied (30) Single of language arts, listening and speaking in this research, and was the correlation coefficient for the hearing (0.78) and for speaking was (0.61) has been extracted stability of the scale using the equation Alvakronbach the value of (0.73).
The proper
... Show Moreتعتبر كرة القدم لعبة شعبية معروفة في جميع أنحاء العالم، وهناك العديد من المباريات تلعب يوميا بمختلف المستويات، ولقد فتن الناس بلعبة لا يمكن التنبؤ بنتائجها، ويمكن تحديد نتيجتها في ثوان معدودة عن طريق التحركات غير العادية للخصم أو الأخطاء الدفاعية القاتلة وغالبا ما يلعب حارس المرمى دورا حاسما في نتيجة المباراة ، حيث تعتمد كرة القدم بشكل اساسي على الامكانيات المهارية للاعبين واستغلال هذه الامكانيات بالشكل ا
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