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.
Tax state institution regards as one of the largest state institutions implementing the tax rules issuing be legislative body and achieving the goals of tax (financial, economic, social and political). So, the tax management should pay attention to the procedures enabling it to achieve those rules starting from the procedures of tax restrict and ending by tax allocation where the process of assessment the taxation must relaxing on modern methods. The problem of the study raising from that in spite of there is a low obliging the taxable person (registered or not) to submit a declaration about his income and the achieved profit to be the base of taxation˒ where the other ways are secondary ways helping in rejection of t
... Show MoreThe reality of teaching the Arabic language rules is not satisfactory, as the pedagogical methods used do not help students develop their mental skills, especially critical thinking skills. They are often traditional in terms of teaching students, who are passive, passive, often passive, active, and often active, their listening task, and the teacher's task of narrating facts and judgments. It is a blind simulation student, a dependency on others, and a weak spirit of creativity, innovation, and opinion. The opinions of educators and teachers almost agree on the reasons for students' weakness in learning the rules of Arabic, and that the reason lies in the way of teaching. The difficulty or the ease of the rules of Arabic does not lie in th
... Show Moreيعد موضوع التنافس بين القوى الكبرى من الموضوعات المستقبلية المهمة التي تؤشر لنا جانبا من صور العلاقات الدولية التي تتسم بالصراع والتعاون من ناحية، والتعاون والتنافس من ناحية أخرى، وبقدر تعلق الموضوع بالمنطقة العربية التي تعد إحدى أهم المناطق العالمية إثارة في مستوى التفاعلات بأنساقها المختلفة، كونها منطقة لازالت محكومة بعوامل غير مستقرة، تشكل نافذة فاعلة لتدخلات القوى الكبرى الساعية إلى إعادة تشكيل المد
... Show MoreThis research aims at building a proposed training program according to the self-regulated strategies for the mathematics teachers and to identify the effect of this program on relational Mathematics of teachers. The sample of the research was (60) Math teachers; (30) teachers as experimental group and (30) teachers as control group. The results of the current research reacheded that the proposed training program according to some self-managed learning strategies, meets the needs of trainees with remarkable effectiveness to improve the level of their teaching performance to achieve the desired goals. Training teacher according to self-managed learning strategies is effective in bringing about the transition of training to their students
... Show MoreThe management of the overall quality (TQM)) of the philosophies that gained the attention of a large number of leaders and managers, practitioners and academics, as one of the prevailing management philosophies and desirable in the current period, is associated with the concept of quality itself, which shows the overall features and characteristics and attributes that related to the service and meet the needs of beneficiaries phenomenon and full, as was the concept of strategic performance with a significant level of interest from organizations because it is closely linked to the success of the organization in light of the changing competitive environment. These were the study in an attempt to see how a clear vision of the unive
... Show Moreتضمّنت الاسطوغرافيا العثمانية التركية حول ثيمة محمية الج ا زئر في -
الفترة العثمانية مؤلفات صُبغت بعضيا بطابع الموالاة والتحيّز
تضمن 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،
Addition 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
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