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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
Sun Sep 05 2021
Journal Name
جامعة بغداد/ كلية التربية للعلوم الصرفة - ابن الهيثم
امتلاك الطالبات لمهارات التفكير المنظومي المتضمنة في كتاب الرياضيات للصف الثالث المتوسط
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Publication Date
Thu Oct 25 2018
Journal Name
Journal Of Planner And Development
(تحليل القابليات الذاتية في القطاع الصناعي لتحقيق التنمية الإقليمية (مدخل تخطيطي استراتيجي
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Publication Date
Tue Nov 06 2018
Journal Name
Arab Science Heritage Journal
وجوه من وجوه الاعجاز البلاغي في القرآن الكريم الايجاز (جوامع الكلم أنموذجاً)
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        The subject of the research is the collective words = Jawami Al-kalim. Those who wants to know this subject to be aware of the benefit of  "Al-Ejaz and Al-iktisar " and to cover the Rhetoric of signal should think carefully the abbreviations because the collective words because it is the a face of the important faces represented by the abbreviation of shortness as it is and old subject where it can be found in every source of rhetoric books which were old or modern. But what attracts attention is that this subject did not take all its range in study in the way that discover its beauty concerning style, words, sentences and meaning. This cause

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Publication Date
Sun Mar 01 2009
Journal Name
Al-khwarizmi Engineering Journal
Numerical Computations of Transonic Critical Aerodynamic Behavior of a Realistic Artillery Projectile
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The determination of aerodynamic coefficients by shell designers is a critical step in the development of any projectile design. Of particular interest is the determination of the aerodynamic coefficients at transonic speeds. It is in this speed regime that the critical aerodynamic behavior occurs and a rapid change in the aerodynamic coefficients is observed. Two-dimensional, transonic, flow field computations over projectiles have been made using Euler equations which were used for solution with no special treatment required. In this work a solution algorithm is based on finite difference MacCormack’s technique for solving mixed subsonic-supersonic flow problem. Details of the asymmetrically located shock waves on the projectiles hav

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Publication Date
Tue Dec 01 2020
Journal Name
Journal Of Economics And Administrative Sciences
The impact of strategic leadership skills on effective environmental management according to the (VUCA Prime) model
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Purpose: clarify the integrative relationship of strategic leadership skills and effective management and the role of those skills combined or individually in achieving effective management.

Research design: The researchers used the quantitative method by surveying a class sample from the heads of the executive departments in a group of Iraqi private banks, consisting of (106) individuals according to the (VUCA Prime) methodology for effective management and the ten skills model for Johansen. The questionnaire was analyzed using a model of the structural equation.

Findings: The most prominent results of the research were the presence of a weak ro

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Publication Date
Sun Jul 11 2021
Journal Name
جامعة بغداد/ كلية التربية للعلوم الصرفة - ابن الهيثم
معايير CCSSM المتضمنة في كتاب الرياضيات للصف الخامس العلمي وتوافرها لدى الطلاب
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Publication Date
Wed Dec 30 2015
Journal Name
College Of Islamic Sciences
Features of the Quranic significance when Abdul Salam Yassin   at Light of the prophetic curriculum theory
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The study of the language through the prophetic curriculum in general and the semantics in particular through the books of Professor Abdul Salam Yassin, may God have mercy on him and the most distinctive linguistic phenomena, and then study semantics and the most prominent methods that reveal the emotions dominated by this study to indicate the semantics of religious terms In this research we try to dive into the sea of ​​significance to know the relationship between the words and their connotations, and to monitor aspects of semantic development, although we have left non-essential words in order to avoid lengthening. N or three and sometimes Aguetsarna on one example we thought it was enough to clarify the meaning.

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Publication Date
Sun Oct 01 2017
Journal Name
Journal Of Economics And Administrative Sciences
The relationship between medical and nursing staffing and its impact on the quality of health service / Applied Research.
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The research aims to find out the relationship between the medical and nursing staffing and its impact on the quality of provided health service in the Yarmouk Teaching Hospital, and to understand the nature of the relationship between doctors and nurses, it has been the adoption of cooperation and conflict Kmngaran independent knowledge of the relationship between doctors and nurses and the quality of health service as a variable certified by eating five dimensions (tangibility, reliability, safety, responsiveness, empathy). The research was adopted to collect data on the questionnaire prepared medical and nursing to the angel and adopted included Likert Quintet her, and distributed to doctors working in the Yarmouk hospital in

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Publication Date
Mon Mar 01 2004
Journal Name
Al-academy
تقييم قابلية اداء متطلبات العمل للعاملين في الصناعة باستخدام طريقة القصور الذاتي
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تقييم قابلية اداء متطلبات العمل للعاملين في الصناعة باستخدام طريقة القصور الذاتي

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Publication Date
Sun Dec 03 2017
Journal Name
Al-khwarizmi Engineering Journal
A theoretical study for increasing production of electric power from Iraqi steam power plants.
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This article conclude a theoretical study for the possibility to produce additional electric power from Iraqi steam power plants by  cutting – off high-pressure feed water heaters .  Three separated steam power plants which Dura , south –Baghdad and Nasria were studied . The investigation showed the possibity of increasing the electric power from 10 to 15% for Dura and Nasria , whereas 6% for south – Baghdad . According to the nowadays of operation to Iraqi steam power plants , the results showed that by cutting–off high  pressure feed water heaters we can generate additional electric power about 250 MW during 3-4 hrs. daily. In addition, the fuel consumption can be reduced in comparison with diesel generat

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