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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 Jan 01 2017
Journal Name
مجلة الدنانير
تعزيز الممارسات الفردية والجماعية لتحقيق متطلبات راس المال المعرفي في جامعة بغداد
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Publication Date
Mon Jan 13 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The Role Federal Board Of Supreme Audit Of Auditing The Economic And Technical Feasibility Studies
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The 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

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Publication Date
Fri Feb 10 2023
Journal Name
مجلة دراسات في التاريخ والآثار
رؤى اقتصادية ومالية لابن أبي زرع الفاسي (ت741ه) في كتابه الأنيس المطرب
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 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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Publication Date
Fri Jun 12 2026
Journal Name
Arab Scientific Heritage Journal
الجــانــب الإعــلامــي لخـطـبـة السيّدة زينب (عليها السلام) في الكوفة سنة 61هـ/684م
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Publication Date
Sun Jan 13 2019
Journal Name
Arab Science Heritage Journal
زين الدين الشماع الحلبي والتعريف بكتابه (سر الأسرار في معرفة الجواهر والأحجار)
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عُني العرب منذ القدم بإستعمال الجواهروالأحجار الكريمة ، وإزدادت هذه العناية على مر العصور ، فقد إستعملوا الحلي المتنوعة ، والملابس المطعمة بالجواهر والأحجار الكريمة .

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Publication Date
Tue Jun 03 2003
Journal Name
Al-academy
التسليات في البلدان الاسلامية مشاهد حياة الطرب والالات الموسيقية كما يعكسها الفن
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التسليات في البلدان الاسلامية مشاهد حياة الطرب والالات الموسيقية كما يعكسها الفن

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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
Sun Oct 01 2017
Journal Name
Journal Of Educational And Psychological Researches
مدى معرفة واستعمال تدريسيو اقسام الجغرافية في كليات التربية لتطبيقات التعليم الالكترونية
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Abstract The present research aims to know the range of Knowledge and the using of teachers of aerography department in colleges of Education to Applicant electronic Learning , So the Sample of the research reached (129) teacher, of the university of Boghdad and Al mustansiria who were chosen by using Randomly sample , and applauding questioner for these perpos that prepared by muhamed bn Ghazi Al Judi – and by using the T-test for one sample and person correlation formula as a statistical means. The research reached to the results which indicate that weakness knowledge and using the theachers of geographe department to the application electronic learning. And according this the researcher put some Recommendation and suggestions. 

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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
Fri Jun 30 2023
Journal Name
مجلة نسق
اثر استراتيجية القوائم المركزة في تحصيل مادة الكيمياء طلاب الصف الثاني المتوسط
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يهدف البحث التعرف على اثر استراتيجية القوائم المركزة في تحصيل مادة الكيمياء عند طلاب الصف الثاني المتوسط وتم استخدام المنهد التجريبي ذو الضبط الجزئي وكذلك تم اختيار مجامع البحث جميع طلاب المدارس الثانوية والمتوسطة التابعة لمديرية تربية كربلاء

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