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.
An experimental investigation of the variation of argon discharge current with a glow and afterglow time intervals of a square discharge voltage was carried out at low pressure (6-11 mbar). The discharge was created between two circular metal electrodes of diameter (7.5 cm), separated horizontally by a distance (10 cm) at the two ends of a Pyrex cylindrical tube. A composite of two Gaussian functions has been suggested to fit and explain the variation graphs clearly. It is shown that the necessary times of glow and afterglow needed to attain a maximum discharge current are (70 us) and (60 us), respectively. The discharge current is observed to drop to the lowest value when the two times are serially longer than (85 us) and (72 u
... Show MoreThis study attempts to highlights on the evaluation of performance efficiency for Investments in both National & Iraqi Insurance companies for the years 2001-2010 and their importance on those companies and the economy of the country in order to find out the investment areas and to compare between investment activity and its revenues as well as to compare performance of both companies in investment field.
The study was based on annual reports and balance sheets of both companies. In many chapters, this study dealt with theoretical and practical aspects of the investments and its revenues. Key hypothesis was based on this study, including four parts of Sub hypotheses about (statistical effective relationship between the
... Show MoreThe Andalusi did not leave any poetic art without expressing his psychological and sentimental emotions and the depth of emotions and it sincerity. We found Andalusian translated his emotions into poetry and in many different subjects. The Poetic images and the analogies were plentiful in their poetry.
يعيش المجتمع العالمي أزمات بنيوية ونسقيه عميقة واختلالات وظيفية أسهمت في تنامي مظاهر الصراع المختلفة واشتداد تفجر الأزمات الهوياتية وتزايد الامراض الاجتماعية المقضة للعيش المشترك والمربكة لمظاهر التعايش والتآلف مع لجوء إنسان العصر الحالي الى التقوقع والاحتماء والانزواء تحت هويات ضيقة ونحل صغيره في مشهد يظهر مدى تراضي شبكة العالقات الاجتماعية على أداء وظائفها وأصبح عندها الاغتراب والقلق واللاتضامن والع
... Show MoreTraining has an effect on employees’ performances. Accordingly, the person who is responsible for employees’ development must figure out the most effective way to train and develop employees. Central Michigan University (CMU) has recognized the importance of providing appropriate training for employees who have a duty in advising students. The reason is that these employees have a significant impact on students’ educational performances. Thus, special attention to this category of employees is needed to improve advising quality. This research attempted to explore the impact of training on academic advising at CMU. Face-to-face interviews and online surveys were used as data collection tools for this study. The study scope c
... Show MoreDespite the global economic downturn, online e-commerce, especially the sale of counterfeit goods, continues to witness a rise in sales, and one of the important players in e-commerce is the owners of e-commerce auction sites. Although they do not have a direct role in trademark infringement, they still consider them indirectly responsible (secondary liability) for infringing on their trademarks. Thus, many cases have been filed by the owners of the original trademarks (which have been infringed by persons who have sold some of the goods and products that are imitating their marks through some electronic auctions) against the owners of those auctions. In view of the international character of the Internet, in different countries, and despit
... Show Moreان الصراع الداخلي السوداني مابين قوات الدعم السريع وقوات الجيش السوداني والذي يشير الى حدوث اكبر ازمة انسانية عالمياً مرتبط بالتفاعلات الخارجية للدول الاقليمية وتعد دولة الامارات العربية المتحدة أكثر الدول التي تُثار حولها الاتهامات بشكل متكرر. لذا تهدف هذه الورقة البحثية الى دراسة العلاقة مابين دولة الامارات العربية المتحدة والصراع في السودان مستخدماً المنهج الوصفي التحليلي ومن خلال الدراسات العلمية و
... Show Moreمن اهداف بعض التجارب هي معرفة تاثير التسلسلات المختلفة لبعض الادوية او التغذية او تجارب التعلم. وفي بعض الاحيان قد تكون الوحدات التجريبية نادرة لهذا نقوم باستخدام الوحدات التجريبية على نحو متكرر. او بسبب الميزانية المحدودة فان صاحب التجربة يخضع كل وحدة تجريبية لاختبارات عديدة ويطلق على هذا النوع من التجارب التي يتم فيها استخدام الوحدات التجريبية (الاشخاص) Subject على نحو متكرر
... Show MoreThe study aims at identifying the morphological and psycho-socio-economic qualities wished to be in a life partner among a sample of Palestinian youth. The total sample was (231) and consisted of (83) male and (148) female students. Each student presented a detailed report on the qualities he/she wished to be in life partner. The study used the descriptive approach and content analysis method. The validity and stability of the analysis were calculated. The results showed eight qualities in both groups: physical, psychological, emotional, social, intellectual, familial, economic and academic. Female students were found to have more variations than male students in terms of the qualities preferable in the life partner. Male students
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