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.
Activity test of the inhibitors purified from barley and broad beans crop proved the inhibition activity against 6 types of rots Pencillium ssp and Aspergellusflavus and Aspergillus niger and Fusarium solani and Fusarium semitectum and Mucor with three concentrations 0.1 and 0.2 and 0.3 mg/ml, where the inhibitor purified from the second peak of broad beans proved that it had a higher inhibition activity against the growth of test rots which were 53.75 and 62.5 and 78.5 and 76.25 and 84 and 18.8% respectively, at 0.3 mg/ ml followed by the first peak of the inhibitor purified from broad beans the inhibition activity were 43.75 and 50 and 62.96 and 75 and 80 and 12.5 then the inhibitor purified from barley in which the inhibition activity
... Show MoreThe present study deals with the social work and the social problems which
the Elderly who lives in the house of special needs suffer from . this study aims to
shed light to the most important social problems which they suffer from inside and
show their relationship and interaet with each ofher and what we can see about that
intereact either negative or positive relationship . Its scientific importance include
adding a new study in the field of take care of the Elderly . and that will enrich the
scientific field with agood knowledge . Becouse the studies in this part was little ,
but the scientific and practical importance of this study presents by the results and
specify of the important problems . In addition to
هدفت الدراسة الحالية التعرف على البلادة العاطفية لطلبة الجامعة وكذلك التعرف على معنوية الفروق في البلادة العاطفية تبعاً لمتغيري: النوع (ذكور-اناث) والتخصص الدراسي (علمي –انساني) ، تآلفت عينة الدراسة من (400) طالب وطالبة موزعين بالتساوي حسب النوع والتخصص الدراسي تم اختيارهم عشوائيا من طلبة الجامعة، استخدمت الباحثة مقياس البلادة العاطفية من (اعداد الباحثة) وبعد تطبيق المقياس على عينة البحث واستخراج البيانات با
... Show MoreThis research seeks to clarify the regulatory and educational role of the regulatory and educational institutions in reducing the phenomenon of financial and administrative corruption as a dangerous phenomenon of the communities, as it touched search kinds of financial and administrative corruption and the causes and effects, as well as to the role of educational institutions in reducing this phenomenon, and finally between experiments some SAIs and accounting Arab and foreign countries on how to reduce the phenomenon of financial and administrative corruption.The research aims to several targets which shed light on the role of educational and supervisory institutions in reducing corruption, a statement origins and evolution of and justi
... Show Moreتعد التغيرات المناخية قضية بيئية عالمية وشاغلاً مشتركاً للبشرية وهي نتيجة حتمية للتطور الحضاري، لاسيما بعد قيام الثورة الصناعية، فقد كان الاستهلاك غير العقلاني لموارد الطبيعة والتوسع العمراني على حساب المساحات الخضراء آثار خطيرة على المناخ الذي يعد من اهم عناصر البيئة الطبيعية لما له من اثر واضح على كافة مجالات الحياة. على صعيد الحالة العراقية يواجه العراق تحديات عدة يفرضها تغير المناخ كارتفاع درجات الحرا
... Show MoreThe organizational culture is an effective control mechanism that dictates the behavior of employees and according to their intellectual and social orientations, so it is considered a more powerful way to control employee orientations and determine their management according to organizational rules and regulations, as it was one of the most important factors determining the performance of organizations, while organizational performance is a measure of what the organization has achieved from the objectives of the scheme To ensure that it faces various changes and remains within the global competition, and to reach that it was necessary to identify the most prominent and most important research problems in knowing the extent of com
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