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.
ريل لسادة الكيسياء َ جؼ البحث الى التعخؼ عمى أثخ استخاتيجية فجػة السعمػمات في التح َى جؼ البحث فقج صيغت الفخضية التي َ تػسط , والتحقق مغ ى ُ جى شلاب الرف الثاني الس َ ل جؼ البحث أعتسج الباحث َ تتعمق بالتحريل ولتحقيق ى ػعتيغ متداويتيغ ُ بي لسجس ِ ي السشيج التجخ ريل الجراسي , تكػنت عيشة البحث مغ َ ) شالب مغ شلاب ٗٛ( ذواتي اختبار بعجي لمتح -ٕٕٕٓالرف الثاني الستػسط في ( متػسصة الذييج خزيخ جاسع العارضي ) لمعاـ الجارسي (
... Show Moreتناولنا في بحثنا أحد اساليب البرمجة الخطية وهي الطريقة المبسطة لتقدير معلمات انموذج الانحدار الخطي عن طريق اختيار دالة الهدف التي تعمل على تقليل الحد الادنى لمجموع الاخطاء الناتجة من تقدير المعلمات بطريقة المربعات الصغرى الاعتيادية ( OLS) حيث سيتم في الطريقة المبسطة ( simplex) فرض قيود على نفس الاخطاء نفسها بهدف تصغيرها الى اقل ما يمكن للحصول على تقديرات افضل لمعلمات انموذج الانحدار الخطي . على اساس ان طريقة المرب
... Show MoreHousing finance is one of the main components of housing, and it is relied upon to help families buy, build, add building, and housing improve. Accordingly, different countries all over the world set policies and strategies for the purpose of organizing and developing the financial sector to solve quantitative and qualitative housing problems.
This research aims to identify housing finance policies and strategies in Iraq and Baghdad governorate.
The most prominent sources of housing financing are the Real Estate Bank and the Housing Fund, and accordingly the focus has been on the role of these two institutions in filling
... Show Moreهدف البحث إلى الکشف عن العلاقة بين الصحة النفسية وتقدير الذات لدى أطفال الشوارع، تألفت عينة البحث من (50) طفلاَ وطفلة، وتم تطبيق مقياسا البحث - مقياس الصحة النفسية ومقياس تقدير الذات وهما (من إعداد الباحثة)، وقد اسفرت نتائج البحث عن إن أطفال الشوارع اظهروا مستوى منخفض في الصحة النفسية وکذلک الحال بالنسبة لتقدير الذات، فضلاً عن وجود علاقة ارتباطية موجبة دالة إحصائيا بين الصحة النفسية وتقدير الذات. وفي ضوء نتائج
... Show MoreSommaire
La question de la violence et de l'agressivité porte une importance remarquable dans l’esprit de Jean Genet qui estime le crime en le considérant comme beau. Il lui donne une valeur suprême. Il le glorifie avec ses personnages criminels. Le langage théâtral genétien est violent qui conduit à la fin à l’acte agressif, le crime et la mort. Ce théâtre qui aborde la condition humaine retrace sur la scène le chemin tragique de l’homme moderne.
... Show Moreشهد العصر الذهبي للإسلام تحول أساسي في مجال الزراعة عرف باسم "الثورة الزراعية الإسلامية" أو" الثورة الخضراء" أو "الثورة الزراعية العربية" ، وقد أتاح الوضع الاقتصادي العالمي الذي أسسه التجار المسلمون في جميع أنحاء العالم القديم ، نشر العديد من النباتات والتقنيات الزراعية بين أجزاء مختلفة من العالم ا
... Show MoreThe issue of the survival of the Ottoman Empire during the nineteenth century, a controversial topic in European diplomacy, was what was called the "Eastern Question" containing the fate of this country and its regions sprawling one of the hottest topics in the diplomatic major European powers of that century
This research deals with study and analyze the industrial buyer behavior and identified its objectives by determine the nature of selection the members of the purchases committees and determine the role of the purchases committees to provide requirements of the educational and scientific process and knowledge Impact of the factors ( environmental , organizational , social , and individual ) and positions of the purchase in the behavior of the members of the purchases committees and starts the importance of research in it helps university administrations in the correct choice for the members of the purchases committees and gives a picture of professional conduct professional who is supposed to b
... Show MoreAbstract:
This research aims to know the reflection of selection of employees strategy dimensions ( selection of employees strategy standards, procedures selection of employees strategy , efficiency based on a selection of employees strategy) on human capital (knowledge, skills, abilities) in a sample of Lecturers consists of (Deans and assistants and heads of departments) in ( Baghdad University) included nine colleges and university president as total sample size (54), which represent almost 50% of the total research community of 116, was used in the light of the objectives of the research descriptive and analytical approach, has been a resolution main tool for data collection as well as the interview p
... Show MoreThe research aims to determine the nature of the effect of long . term finance with Net profit which get by the organization from a grubs of finance sources which the organization can choose among them to funding its operations it is one of the basic necessities Net income . Despite this importance , however there is a distinct lack of many Iraqi organizations in the study of the relationship effect of between these two variables and this the reaserch problem .
The data of research were obtained the annual guide of Iraqi market for securities where a data of sample of Iraqi Banks was selected which were five banks from 2004 to 2007 , most of the analysis re
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