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.
We must live in an era dominated by the call for equality between men and women, in which the voices of advocates of gender integration were heard. After women opened their doors to compete with their brother, Knowledge, and culture in the various forms of life, language as a science of the time and knowledge of the other had to match this reality and express the most accurate expression of this task
لما كانت الوظيفة الأساسية للغة هي الوظيفة التواصلية ، أو التبادل الكلامي بين المخاطب والمستمع ، فكان لا بد لهذه الوظيفة من آليات – لغوية وبلاغية – يستعملها المتكلم أو المرسل للخطاب الأدبي لتوجيه ذهن السامع أو المخاطب نحو ما يطرحه من أفكار ، ورؤى ، واقناعه عن طريق التواصل ، بمضمون الخطاب واستلزام سرعة الانجاز ، وتأسيساً على ذلك جاء هذا البحث لبيان هذه الآليات في الخطاب القرآني متمثلاً في سور الطور
... Show MoreMarketing information system (KMIS) is an essential factor of developing business’ performance and getting sustainable success. The main goal of the research is to measure effect of MIS on customer orientation and product innovation. Also, another goal is to analyze the mediation role of product innovation in relationship MIS and customer orientation. This study sought to analyze the marketing information system and measure its effect on the customer orientation and product innovation. The data of the study were collected using questionnaire. The data were analyzed using statistical tools and SPSS programming. The results of the study showed that the KMIS can positively and significantly effect product innovation. Also, t
... Show MoreFinancial institutions, including banks, remain a major target for money launderers in order to transfer illegal funds to legitimate funds through limited internal audit procedures and external auditing.
The study is a study of the operations of money laundering and what can be done by the verification efforts when integrated in the fight against them, by analyzing the level of cooperative relationship and communication between them. To achieve the objectives of the study, a questionnaire prepared for this purpose was distributed to an appropriate sample of (60) auditors of the internal audit staff of the Central Bank of Iraq and the external auditors working in the Federal control foundation Accordingly , appropriate methods wer
... Show Moreيهدف البحث الى قياس مستوى ارتباط وتأثير القدرات المعرفية الدينامية في تنافسية الاعمال، وتكونت العينة من (155) فردا في اربعة مصانع للالبان في بغداد وهي (ابو غريب، والزراعة، والحلال، وعيون الرافدين) اذ تمثل مجتمع البحث من اصحاب المصانع، والمديرين والعاملين في السيطرة النوعية والبحث والتطوير والمهندسين والفنيين والعاملين ذوي الخبرة في صناعة الالبان. وجرى تحليل البيانات واختبار الفرضيات باستخدام الادوات الإحصا
... Show MoreSome of the main challenges in developing an effective network-based intrusion detection system (IDS) include analyzing large network traffic volumes and realizing the decision boundaries between normal and abnormal behaviors. Deploying feature selection together with efficient classifiers in the detection system can overcome these problems. Feature selection finds the most relevant features, thus reduces the dimensionality and complexity to analyze the network traffic. Moreover, using the most relevant features to build the predictive model, reduces the complexity of the developed model, thus reducing the building classifier model time and consequently improves the detection performance. In this study, two different sets of select
... Show Moreأن الوعي الذاتي والمعرفة قد برزت أهميتها في الفكر السياسي الليبرالي الحديث وجاءت من أجل المناداة بأهمية الوعي في جوهر الفرد فقد بين أغلب المفرين وأبرزهم جون لوك وايمانويل كانط، أكد لوك بأن حالة الوعي الذاتي تكتسب بالتجربة من خلال الإحساس والتأمل او التفكير، فالعقل صفحة بيضاء خاوية ولا توجد فيها أفكار فطرية ولكن في نفس الوقت يؤكد على وجود قوة فطرية في العقل وليست أفكار يمكن ان تحول الأفكار البسيطة الى مركبة م
... Show MoreThe importance of economic and technical feasibility studies include all of the investor, the society, the banks, the project and the government. As it will assist in achieving the optimal use of the available economic incomes on the national level and arranging the projects in priority which participates in achieving the government benefit without wasting the amounts .This is the research goal So, the research covered its theoretical aspect, of SAIs and the economic and technical feasibility studies then the role of the auditors in auditing those studies Then a mechanism was proposed includes a guidebook that provides guidelines for organizing the process of preparing and auditi
... Show More There are many economic and financial visions that were mentioned in the book (Al-Anis Al-Mutreb in Rawd Al-Qirtas in the News of the Kings of Morocco and the History of the City of Fez). As this valuable book includes between its two covers, narrations that reveal important and pioneering events and practices that took place and were applied in the recent past on the scene of the countries of the Maghreb. This prompted the officials in the Marinid state to take quick measures to address and confront what happened. Despite the large number and severity of these repercussions and interactions, it is not the nature of this research to download texts and visions beyond what they can bear, but
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