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.
It is summarized that Abu-Baker Al-Soly is one of Arabic Muslim scientists who had special style in literary writing specifically in sciences and knowledge that had depended on the encyclopedia culture gained from various fields of science , this means that he was an individual who had participated to characterize features of Islamic –Arabic history enhanced the rules of it , this matter would encourage us to know the method and style of writing in the field of intellectual life in which the writer depended on the procedures direction of scientists that he lived in the Abbasid era .
يتناول هذا البحث موقف ( صحيفة الاهرام) المصرية من تطورات الصراع في جمهورية الكونغو الديمقراطية خلال الفترة (1964 -1965) وهي مرحلة اتسمت باحتدام الازمات السياسية والنزاعات الداخلية في الكونغو مع زيادة التدخل الاجنبي في شؤون البلاد المتمثل بالولايات المتحدة الامريكية وبلجيكا وعلى هذا الاساس تم اختيار موضوع البحث والذي حددت بدايته بالتزامن مع عودة مويس تشومبي الى السلطة ، وما رافقها من صراعات وتمردات في الاقاليم
... Show MoreBrainstorming is one of the fundamental and necessary concepts for practicing 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 MoreIt is axiomatical that the narrative prospective is profoundly significant to the writer who intends to commence his sketch of projected novel. It is the pillar of comprehensive absorbing as the writer should commit himself to circular his own concepts to the reader of his narrative characters.
The dilemma of plot-perception is a twofold aspect; partly offers the question: what is the authors stand in regard to his characters? And: what is the aim of this theme? These correlative questions are inseparable since the reader who wishes
... Show Moreيُعد الوزن الاقتصادي للهند من أبرز عناصر قوتها الجيوسياسية، إذ تُصنف الهند ضمن أكبر الاقتصادات عالميًا، مدعومة بحجم سكاني ضخم وسوق استهلاكي واسع ونمو متسارع في قطاعات الصناعة والخدمات والتكنولوجيا. حقق الاقتصاد الهندي نموًا قويًا خلال السنوات الأخيرة، مع استمرار معدل نمو الناتج المحلي ضمن نطاق مرتفع مقارنة بكبرى الاقتصادات العالمية، حيث تتوقع عدة مؤسسات دولية نموًا يقارب 6.3–7% خلال 2026–2027.
Long memory analysis is one of the most active areas in econometrics and time series where various methods have been introduced to identify and estimate the long memory parameter in partially integrated time series. One of the most common models used to represent time series that have a long memory is the ARFIMA (Auto Regressive Fractional Integration Moving Average Model) which diffs are a fractional number called the fractional parameter. To analyze and determine the ARFIMA model, the fractal parameter must be estimated. There are many methods for fractional parameter estimation. In this research, the estimation methods were divided into indirect methods, where the Hurst parameter is estimated fir
... Show MoreAbstract:
Objective: The study was done to evaluate nurses’ knowledge and practices toward physical restraint at critical care unit
Methodology: Fifty nurses, who were selected by a non-probability (convenient) sampling method, participated in this descriptive study. The instrument of the study was knowledge parts of the questionnaire were initially developed in the U.S.A for nursing homes; in 2006 they were adopted for all hospital units by the original developers. The knowledge section of the questionnaire consisted of 20 items, which were used to measure knowledge of nurses towards the definition, indications and contra
... Show Moreمقدمة introduction تُعد تقنيات الذكاء الاصطناعي قاطرة الثورة الصناعية الرابعة، إذ تجاوزت حدود البرمجة التقليدية إلى التعلم العميق الذي مكّن الآلات من تنفيذ مهام بشرية معقدة، مثل تحليل الصور، ومعالجة اللغات الطبيعية، وإنتاج محتوى إبداعي. فأصبحت التطبيقات تعتمد على الذكاء الاصطناعي في جميع القطاعات، من الرعاية الصحية إلى التعليم، ومن الأمن إلى الفنون. ومع ذلك، مثلما أن كل تقدم يحمل في طياته إمكانات هائلة، فإنه يج
... Show MoreThe performance of a solar cell under sun radiation is necessary to describe the electrical parameters of the cell. The Prova 200 solar panel analyzer is used for the professional testing of four solar cells at Baghdad climate conditions. Voltage -current characteristics of different area solar cells operated under solar irradiation for testing their quality and determining the optimal operational parameters for maximum electrical output were obtained. A correlation is developed between solar cell efficiency h and the corresponding solar cell parameters; solar irradiance G, maximum power Pmax, and production date P. The average absolute error of the proposed correlation is 5.5% for 40 data points. The results also show th
... Show MoreEducational and psychological adjustment considered to be one of the effective and serious matters at people dealings and behaviors. Generally, psychological adjustment reflects positively on an individual mental health and their capability to be creative at their field. In contrast to those people who lack this feature. As for educational adjustment, it refers to the compatibility and harmony between an individuals and people around. Thus, these features should be available among students particularly those who stay in students' hostel since they live far from their families. The findings of study revealed that there is Educational and psychological adjustment between male and female. Besides, significant differences were showed
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