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Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method
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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.

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Publication Date
Thu Jan 10 2019
Journal Name
Journal Of The College Of Education For Women
Similar and different between Arabic and Arabian peninsula Accents balance linguistic Study Voice of the Sein typically
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    Languages were not found in our life in a way utter coincidence , and it’s not flounce on people’s tongue randomly ‚ but laws are the controlling in languages‚ these laws could be lift to the same level of natural laws‚ phonetics form the main part in producing those languages‚ the Arabic language is one of those languages ‚ it’s largest dialects in Arabian Peninsula according to speakers number ‚ Arabic language link with these dialects through properties and phenomena sound and grammar‚ from this point my topic search is came Similar and different between Arabic and  Arabian peninsula Accents balance linguistic–study voice of the Seine typically ) . and  Similar and different of the ph

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Publication Date
Wed May 14 2025
Journal Name
Sciences Journal Of Physical Education
تأثير تمرينات خاصة باستخدام أساليب التنافس في تعلم مستوى األداء الفني لفعالية الوثب العالي للطالبات
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فعالية الوثب العالي تمتاز بالتكرار والممارسة لمراحل التسلسل الحركي بالتكرارات الصحيحة المصحوبة بالتغذية الراجعة من اجل الوصول إلى اداء افضل, ومن خلال عمل الباحثتان كونها تدريسية لمادة الساحة والميدان لاحظت ضعفا في مستوى الأداء الفني عند الطالبات في ضبط مراحل التسلسل الحركي الكامل لفعالية الوثب العالي ، لذا ارتأت الباحثتان اعداد تمرينات خاصة باستخدام أساليب التنافس حمل المتعلم على مضاعفة جهده لينافس ذاته

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Publication Date
Mon Oct 01 2007
Journal Name
Journal Of Educational And Psychological Researches
تقويم طرائق التدريس والتقنيات التربوية والأختبارات التحصيلية لدى أعضاء الهيئة التدريسية في جامعتي بغداد والنهرين
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أن أزدياد أعداد الطلبة في معظم دول العالم ، والتوسع في التعليم العالي ، أدى الى أستيعاب أعداد كبيرة في المؤسسات التعليمية من حملة الشهادات العليا الماجستير خاصة والدكتوراه ، وأن برامج الدراسات العليا وضعت لأعداد باحثين مختصين في مجالات عدة منها التدريس وما يتطلبه من مهارات مختلفة ، فأن قسماً منهم ليست لديه المعرفة النظرية والتطبيق العملي والمهارات اللازمة لأستخدام طرائق التدريس والتقنيات التربوية أث

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Publication Date
Sun Jan 01 2012
Journal Name
Journal Of The College Of Languages (jcl)
Türk Halk Edebiyatında Manzum Atasözleri ve Irak Türkmenleri Arasında Atasözü İçerikli Hoyrat Örnekleri Yrd. Doç. Dr. Necdet Yaşar BAYATLI
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Özet

 

Sözlü Türk halk edebiyatı ürünleri içinde önemli yere sahip olan türlerden biri de atasözleridir. Atasözleri, nesilden nesile halk ağzında dolaşan, kimin söylediği bilinmeyen, birtakım gerçekleri kısa ve öz bir şekilde ifade eden sözlerdir. Türk atasözleri Orhun Abideleri’nde ilk kez karşımıza çıkmakla birlikte, Uygur dönemi yazıtlarında ve özellikle Dîvânü Lûgati’t Türk’te geniş yer bulmuştur. Dilin anlatım ve kullanım imkânlarını geliştiren atasözlerine, dünyanın bütün dillerinde rastlanabilir. Bunun için, söyleyişte güzel, anlatımda güçlü, kavramda önemli unsurlar içeren kalıplaşmış sözler halinde bulunurlar. Bu çalı

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Publication Date
Sun Jun 18 2023
Journal Name
Arab Science Heritage Journal
التعايش السلمي في الاسلام بين التنظير والتطبيق عهد الامام علي (عليه السلام) للاشتر النخعي / انموذجا
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     Peaceful coexistence is not seen as a new topic of secretions of modern civilization, a requirement to solve the problems of our era or one of the indications of urgent immediate needs, rather, tolerance is considered basis for building a state. Therefore, we can touch on the principles and basics of tolerance in the Holy Qur’an, the speeches of the Messenger (may God bless him and grant him peace) and his hadiths, and the principle of brotherhood that he established

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Publication Date
Wed Sep 01 2010
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
استخدام ادوات التحليل المالي كمؤشرات لتحديد واحتساب ضريبة الدخل: دراسة تطبيقية في الهيئة العامة للضرائب
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A financial analysis tool such as financial rations concentrates on explanation of financial statement and using them in the evaluation of company profiles and fixing taxable profits, by analyzing final calculation, explaining their results and studying relationships between a group of financial lists 'elements in a specific period and the trend of their relationships in percentage from so, financial analysis is considered on important instrument for tax analytical test procedures through studying and evaluating financial data in order to get proper information which is needed to make sure of credibility and reliability of statements submitted by the taxpayer and the satisfaction of the tax analyzer in the credibility of these statements

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Publication Date
Mon Jun 15 2026
Journal Name
Journal Of Baghdad College Of Economic Sciences University
العلاقة بين القدرات المعرفية وتمكين العاملين بحث تحليلي في هيئة رعاية ذوي الاعاقة والاحتياجات الخاصة
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Publication Date
Wed Jun 07 2023
Journal Name
Journal Of Educational And Psychological Researches
The impact of The Bransford and Stein Model on the Achievement of Fifth-Grade Literary Students for Geography and their Reflective Thinking
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The current research aims to identify the effect of the Bransford and Stein model on the achievement of fifth-grade literary students for geography and their reflective thinking. To achieve the objective of the research, the following two null hypotheses were formulated:

  • There is no statistically significant difference at the significance level (0.05) between the average scores of the experimental group students who studied geography using the Bransford and Stein model and the average scores of the control group students who studied the same subject in the usual way in the achievement test. 2- There is no statistically significant difference at the significance level (0.05) between the average scores of the experimental gr

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Publication Date
Fri Jan 01 2016
Journal Name
مجلة جامعة كربالء العلمية
دراسة شكليائية ونسجية للكلية في الساحف )أبو بريص( وزغة خشنة الحراشف Cyrtopodion scabrum (Heyden, 1827)
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Publication Date
Tue Jun 01 2004
Journal Name
كلية اللغات
خيبة آمال غرامية/ مشروع الدبلوم العالي في الترجمة- قسم اللغة الاسبانية- كلية اللغات- جامعة بغداد
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