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.
Emissions of particulate matter from nanopapers as well as inks and organic solvents during the printing operationand copying machines constitute a threat to human health, especially with long time exposure in closed working environments. The present study was conducted in some printing houses and copying centers of Baghdad city during February and April .The studyproved the occurrence of an air pollution problem concerning lead and zinc contents in all the study sites. The levels of Pb, Zn and Cu were collected by low volume sampler from the air of the study sites then filter papers digested and determined the heavy metals by flame atomic spectrophotometer. Particulate matter was measured by Aerocet, Microtector meter device was use
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The scholars of Iraq have rich contributions to enrich this science and other Islamic sciences. Many of them presented the juices of their ideas to build and defend Islamic civilization, and among them are those who took care and carried this scientific trust upon themselves and conveyed it (Sheikh Muhammad Taha Al-Balisani (may God have mercy on him), who was a prominent scholar in His era, where he presented antiquities, opinions, and ideas worthy of attention and study.
He was the author of many books, some of them printed, and some of which are manuscripts, waiting for someone to bring them out to the light of life, verify them and present them to Islamic libraries, because our libraries are i
... Show MoreAbstract: Reflection optical fibre Humidity sensor is presented in this work, which is based on no core fibre prepared by splicing a segment of no core fibre (NCF) at different lengths 1-6 cm with fixed diameter 125 µm and a single mode fibre (SMF). The range of humidity inside the chamber is controlled from 30% to 90% RH at temperature ~ 30 °С. The experimental result shows that the resonant wavelength dip shift decreases linearly with an increment of RH% and the sensitivity of the sensor increased linearly with an increasing in the length of NCF. However, a high sensitivity 716.07pm/RH% is obtained at length 5cm with good stability and reputability. Furthermore, the sensor is shif
... Show Moreالسياسة الداخلية لعراق ما بعد الانتخابات 2010 دراسة في الثوابت والمتغيرات
إن اختلاف الفقهاء مصدر عظيم لثروة فقهية كبيرة، ومن مظاهر الخلاف الفقهي مؤاخذات علمية يوردها بعض العلماء على علماء آخرين بدعوى مخالفتهم الأدلة الشرعية، أو القواعد المقررة لاستنباط الأحكام الشرعية، ومن تلك المؤاخذات ما أورده الإمام المحدث أبو بكر ابن أبي شيبة رحمه الله تعالى على أبي حنيفة النعمان رحمه الله حيث إنه ساق في مصنفه الكثير من الأحاديث والآثار التي عد الإمام أبا حنيفة رحمه الله مخالفا لما تقتضيه من
... Show MoreBrainstorming is one of the fundamental and necessary concepts for practising the auditing profession, as auditing standards encouraged the implementation of brainstorming sessions to reach reasonable assurance about the validity of the evidence and information obtained by the auditor to detect fraud, as the implementation of brainstorming sessions and the practice of professional suspicion during the audit process lead To increase the quality of auditing and thus raise the financial community's confidence in the auditing profession again after it was exposed to several crises that led to the financial community losing confidence in the auditing profession.
The research aims to explain the effect of brain
... Show Moreمايزال انتاج المياه في محافظات الفرات الاوسط بشكل خاص و العراق بشكل عام نواجه تحديات كبرىالتي ادت الى تردي انتاج المياه و استهلاكها
لقد كان الألفون جزءاً من اللوحة الفونيميّة، وهو جزء صوتيّ لا يُغيّر المعنى، مع أنّه تغيّر صوتيّ فونيميّ، له أنواعه المتمثّلة بالهمس والجهر، والنّبر، والاختلاس، والإخفاء، والإشمام، والإقلاب، والتّماس، والقلب، وهذه الأنواع كانت مؤشّرات تنغيميّة صوتيّة نالت حظّاً وافراً لدى باحثي الأصوات وعلماء التّجويد، وكان لها شروطها ومواقعها وأثرها في المخاطِب والمخاطَب، لأنّ كلّ صوت يخرج من متكلّم ليصل إلى سامع يؤثر ب
... 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]) ".
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