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.
In recent years, the attention of researchers, governments and international non-governmental organizations has focused on the aggressive practices adopted by companies with the aim of evading the tax burden or from paying the tax obligations imposed on them by law, as the results of these practices are negatively affected by tax revenues. And that companies are part of the society in which they work, and they have rights and obligations, including paying taxes. The research community is the Iraqi private shareholding companies, and the research sample was 4 companies within the private sector and in the field and finance - banking, insurance, industrial and service, which are Ashur Bank, Al-Ahlia Insurance Company, Baghdad Soft
... Show MoreAddition of bioactive materials such as Titanium oxide (TiO2), and incorporation of bio inert ceramic such as alumina (Al2O3), into polyetheretherketone (PEEK) has been adopted as an effective approach to improve bone-implant interfaces. In this paper, hot pressing technique has been adopted as a production method. This technique gave a homogenous distribution of the additive materials in the proposed composite biomaterial. Different compositions and compounding temperatures have been applied to all samples. Mechanical properties and animal model have been studied in all different production conditions. The results of these new TiO2/Al2O3/PEEK biocomposites with different
... Show Moreالملخص: تعد عناصر اللياقة البدنية العمود الفقري للألعاب الرياضية وخصوصا في الالعاب الجماعية ومنها لعبة كرة القدم للصالات والتي تعد من الالعاب الرياضية التي تتطلب بذل جهود كبيرة خلال المنافسة نظرا لطبيعة الاداء الذي يمتاز بالقوة والسرعة طيلة شوطي المباراة وهذا يتطلب من اللاعب امتلاكه للياقة بدنية عالية تؤهله للإيفاء بهذه المتطلبات خلال المنافسة، لذا نجد المدربين يتبعون كافة الاساليب وطرائق التدريب في سب
... Show MoreEconomic organizations operate in a dynamic environment, which necessitates the use of quantitative techniques to make their decisions. Here, the role of forecasting production plans emerges. So, this study aims to the analysis of the results of applying forecasting methods to production plans for the past years, in the Diyala State Company for Electrical Industries.
The Diyala State Company for Electrical Industries was chosen as a field of research for its role in providing distinguished products as well as the development and growth of its products and quality, and because it produces many products, and the study period was limited to ten years, from 2010 to 2019. This study used the descriptive approa
... Show Moreتضمن البحث تحقيق مخطوط"، سرور الفؤاد بالصافنات الجياد في معرفة الخيل
وأسمائياالشيخ محمد العمري" وكما ظاىر من عنوان المخطوط إنوُ يتناول الخيل، والخيل
موضوع ميم في حياة العربي قبل الاسلام باعتباره يمثل جزءاً من تفاصيل حياتو الملازمة لوُ
واعتماده عمييا ىذا أولاً وثانياً ماتحمموُ الخيول من معاني الفروسية والعنفوان وماتثيره في
الأنسان من حب الأقتناع والمتعة المتحققة من النظر إلييا وحبو لمسبق،
Research is aimed at defining the risks that the sales activity of the General Company for Leather Industries about a special, then diagnose these risks, through a set of indicators, which indicate its existence and try to overcome them, and minimizing the negative effects on those activities.
The research found some conclusions, which emphasizes that the General Company for Leather Industries, suffer from a lack of profit, and a large decrease in sales; a result of absence of demand on its products and rising cost of the expenses to income ratio of, which was reflected in the cost per unit produced. Also the conclusions shown that the number of sales outlets for the company to cover the geographical area is not enough, in spite
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