This paper investigates the application of Model Predictive Control (MPC) to fast systems such as Autonomous Ground Vehicles (AGV) or mobile robots. The control of Autonomous ground vehicles (AGV) is challenging because of nonholonomic... more
This paper investigates the application of Model Predictive Control (MPC) to fast systems such as Autonomous Ground Vehicles (AGV) or mobile robots. The control of Autonomous ground vehicles (AGV) is challenging because of nonholonomic constraints, uncertainties, speed, accuracy of controls and the vehicle's terrain of operation. Two nonlinear models: a car-like model and a bicycle model are considered. A Nonlinear MPC (NMPC) was developed. A trajectory tracking performance index for both models was studied. After thorough and extensive simulation, it is observed that both models are applicable in the context of NMPC and the constraints on model variables were adequately respected. The trajectories were successfully tracked and thus clearly indicate the efficiency and effectiveness of the MPC technique. In order to improve on speed and reduce the computational effort required for the optimization problem, a Linear MPC (LMPC) was implemented with both models. This is possible by successive linearization along the reference trajectory and formulating a quadratic optimization problem which is solved by implementing an interior-point quadratic programming algorithm. For both AGV models, analysis concerning the reduced computational efforts is presented in order to show the viability of LMPC technique developed.
The Information and Communication Technologies (ICTs) use has become a major driving force in transforming education worldwide. Similarly, in the last ten years, the usage of Information and Communication Technologies and e-learning... more
The Information and Communication Technologies (ICTs) use has become a major driving force in transforming education worldwide. Similarly, in the last ten years, the usage of Information and Communication Technologies and e-learning approach in Iraq has increased. Whereas, the latest educational policy of the Government of Iraq has focused on using Information and Communication Technologies and e-learning in schools and universities. The national professional standards for teachers have also suggested teachers to integrate Information and Communication Technologies in their classrooms and develop e-Learning Platforms for teaching and learning processes. However, in this study the effectiveness of Information and Communication and e-learning Technologies integration in teaching and learning has been assessed. The context selected for this research study is University of Baghdad Iraq. The research gap, which has been founded through the extensive literature review indicated that most of the students are not able to utilize Information and Communication Technologies effectively. The first objective of this study is to enable students to gain wider range of knowledge and make them enable to access internet for developing a global outlook. Moreover, the second objective of this study is to develop students' capabilities of processing information more effectively and efficiently for teaching and learning. ABSTRAK Penggunaan Teknologi Informasi dan Komunikasi (TIK) telah menjadi kekuatan pendorong utama dalam mengubah pendidikan di seluruh dunia. Demikian pula, dalam sepuluh tahun terakhir, penggunaan Teknologi Informasi dan Komunikasi dan pendekatan e-learning di Irak meningkat. Padahal, kebijakan pendidikan terbaru Pemerintah Irak lebih menitikberatkan pada penggunaan Teknologi Informasi dan Komunikasi serta e-learning di sekolah dan universitas. Standar profesional nasional untuk guru juga menyarankan guru untuk mengintegrasikan Teknologi Informasi dan Komunikasi di ruang kelas mereka dan mengembangkan Platform e-Learning untuk proses belajar mengajar. Namun, dalam studi ini International Journal of Social Learning (IJSL) 16 Vol. 1 (1), Dec 2020 efektivitas integrasi Teknologi Informasi dan Komunikasi dan e-learning dalam proses belajar mengajar telah dinilai. Konteks yang dipilih untuk studi penelitian ini adalah Universitas Baghdad Irak. Kesenjangan penelitian, yang ditemukan melalui tinjauan pustaka ekstensif menunjukkan bahwa sebagian besar siswa tidak dapat memanfaatkan Teknologi Informasi dan Komunikasi secara efektif. Tujuan pertama dari studi ini adalah untuk memungkinkan siswa memperoleh pengetahuan yang lebih luas dan memungkinkan mereka mengakses internet untuk mengembangkan pandangan global. Selain itu, tujuan kedua dari studi ini adalah untuk mengembangkan kemampuan siswa dalam memproses informasi secara lebih efektif dan efisien untuk proses belajar mengajar.
This paper presents a pilot educational project aimed to develop an integrated system to allow the teaching community to experiment and evaluate the benefits of multimedia lessons. The key issues of the project are the development of a... more
This paper presents a pilot educational project aimed to develop an integrated system to allow the teaching community to experiment and evaluate the benefits of multimedia lessons. The key issues of the project are the development of a structured database, the design of multimedia templates, the implementation of a web based authoring application that enables professors to be course builders, and the delivery mechanisms to dynamically generate multimedia content. In this paper we discuss the concept and realization of the system as well as the first results accompanying the project.
Effort to incorporate interactive multimedia technology in the teaching of engineering materials at the University Tenaga Nasional, Malaysia has been initiated. The preliminary work involve the construction of a lecture set of interactive... more
Effort to incorporate interactive multimedia technology in the teaching of engineering materials at the University Tenaga Nasional, Malaysia has been initiated. The preliminary work involve the construction of a lecture set of interactive multimedia tutorials to facilitate the teaching of introductory first year course such as engineering materials that is taught in the Bachelors of Mechanical Engineering program. The topics that have been covered in this first prototype system include microstructure development and phase equilibrium diagram. The ultimate goal of the project is to gain the perception of the local students and to understand how best to integrate such technology in the teaching of engineering subjects such as engineering materials.
