This paper presents the design and implementation of a smart robotic vacuum cleaner based on Internet of Things (IoT) technologies, named IO-VAC, specifically developed for smart home environments. The paper covers both the mechanical and electronic aspects of the robot’s development. A 2D layout was created using ArchiCAD to define the positioning of components and sensor angles when designing the robot, followed by a 3D model to visualize the final design. The robot chassis was fabricated using reinforced plastic to ensure durability and lightweight structure. The IO-VAC is controlled using an Arduino Mega board programmed in C/C++. Where, the system includes three ultrasonic sensors for obstacle avoidance, along with an infrared (IR) sensor for edge detection to prevent falls. The embedded system of IO-VAC integrates an ESP8266 Wi-Fi module, allowing for remote control via the Blynk IoT platform to enable users to control the robot’s movement (forward, backward, left, right), adjust suction power, select the desired cleaning algorithm, and monitor the battery level in real-time. In this paper three movement algorithms were developed: random, spiral and zigzag, and their performance was tested on two types of surfaces smooth and rough to ensure reliability and efficiency in various cleaning conditions after testing the validation of IO-VAC. Based on the test results of robot performance, the zigzag algorithm proved to be the most effective in terms of covered area, cleaning mission time, power consumption and minimizing redundancy. This work demonstrates an effective integration of embedded systems with IoT technologies, offering a smart and cost-efficient solution for automating household cleaning tasks.

Free-space optical communication (FSO) is an innovative technology that uses light rays to transmit data over the air, providing a wireless alternative to traditional cables. However, the performance of this system is greatly affected by severe weather conditions such as fog, rain, humidity, and atmospheric turbulence, which degrade the quality of communication and pose challenges that require precise solutions. This paper aims to analyze the impact of these environmental factors on the performance of the FSO system using three main criteria: the bit error rate (BER) to evaluate the accuracy of data transmission, the signal-to-noise ratio (SNR) to assess the quality of communication, and the total attenuation induced by each atmospheric condition to quantify its effect on signal degradation. The On-Off Keying (OOK) modulation technique was adopted due to its simplicity and widespread use in optical communication systems. Using MATLAB, simulation models representing different weather scenarios were employed to analyze the performance of the FSO system under varying environmental conditions. The effects of atmospheric changes on system behavior are studied and evaluated to gain a deeper understanding of its operation and limitations. Also, in this paper a further enhancement is introduced to the system by integrating Multiple-Input Multiple-Output (MIMO) technology to improve its performance under challenging conditions as a solution.

Abstract— In order to better control the 3-DOF helicopter model, this work is constructed to fulfill and satisfy high performance requirements while taking robustness, reference tracking, and actuator effort into consideration. As a result, the helicopter model dynamics were modeled and shown in a state-space for the first time utilizing the system identification technique. MATLAB was used to identify, design, and simulate the H∞ controller for the nonlinear system. This ideal controller, known as LQG (Linear Quadratic Gaussian), was created, modeled, and applied to the actual model for the nonlinear system using MATLAB. Both controllers' outcomes were displayed. An explanation of the fundamental distinctions between the H∞ controller and the LQG controller is also provided.

Keywords— H∞ controller, LQG controller, 3-DOF helicopter model, MATLAB/SIMULINK

Abstract:

This research deals with estimating the likely switch of own car and private vehicles modes

users to public transport modes in the main cities as Tripoli Capital city of Libya due to

reduced travel time of all trips influenced by travel costs through the introducing the public

transport modes such as public buses and increasing cost of car parking. The data on other

factors (variables) that could potentially reason a model switch of from own cars and private

transport to public transport were collected through a survey (questionnaire) with a specified

preference approach. Mode-switch models to describe the switch of behaviour of own car

operators to public transport are developed. A binary logit regression model was used to

assessment the transport displacement model for work and study trips. Mode-switch

likelihood curves have also, been developed to serve as a user-friendly tool to analyse the

likely model-switch for a variety of variables. One way to achieve this objective is by

establishing reserved public transport lanes on main urban Tripoli city roads. The providing of

private road lanes will reduce the level of road traffic congestion and this may effect in a

switch of all or some private transport mode users to public transport modes.

Key words: Own car, Public transport modes, logit model, Travel time, Travel cost, parking

cost and switch probabilities.

Abstract

This qualitative research has been explored factors affecting English language learner performance and teacher effectiveness. Specifically, it has been investigated key elements impacting English language teacher effectiveness and learner proficiency, grounded in established theoretical frameworks and prior research. The study has been aimed to understand how to enhance the English language teaching process by addressing challenges originating from teachers. It has been provided a clear definition of an effective teacher and clarified the meaning of "effectiveness" within language instruction. Furthermore, it has been elucidated the characteristics of effective language teachers and presented a comprehensive understanding of professionalism and teacher professional development. It also has been explored teachers' perceptions regarding the qualities of effective English language instructors and outlined concrete steps for impactful professional development initiatives. Furthermore, it has been identified common challenges in teaching English effectively faced by educators and have been proposed practical remedies to overcome these obstacles. Finally, it has been concluded with recommendations for the Ministry of Education, advocating for systemic interventions that influence policy, resource allocation, and national strategy to cultivate a culture of continuous learning and excellence among English language teachers.

Keywords: English Language Learners, Teacher Effectiveness, Learner Proficiency, Professional Development, English Language Teaching, Pedagogical Challenges, Teacher Professionalism, Educational Policy.

This paper proposes a novel robust blind color image watermarking technique that combines entropy analysis, lifting wavelet transform (LWT), QR factorization, and discrete cosine transform (DCT) for copyright protection. The RGB components of the color image are first separated, and the R component is then subjected to the 2-level LWT. Following DCT is applied to the 2-level LWT's high-frequency sub-band, the DCT coefficients are separated into 4x4 non-overlapping blocks. Each chosen block is then subjected to QR factorization, and the watermark is embedded in the first row and first column element of the upper triangular matrix. Numerous simulated tests show that the presented scheme is highly imperceptible and robust to attacks. The presented watermarking scheme performs better than the others in terms of invisibility, according to comparisons with comparable schemes.

This research deals with estimating the likely switch of car ownership drivers and private transport vehicles modes

users to public transportation system (PT) modes in the main cities as Tripoli Capital city of Libya due to reduced

shopping travel time of all trips influenced by age, household size. Car ownership and shopping distance through

the introducing the public transport modes such as public buses. The data on other factors (variables) that could

potentially reason a model switch of from car ownership drivers and private transport vehicles modes users to

public transport were collected through a survey (questionnaire) with a specified predilection method. Modeswitch models to describe the switch of conduct of own car operators to PT system are developed. A binary

logistic regression model was used to assessment the transport displacement model for shopping trips. Probability

curves have been developed to change the position so that it is a user-friendly tool for analysing the potential

transformation Model of a variety of variables. One way to achieve this objective is by establishing reserved

public transportation lanes on main urban Tripoli city roads. The providing of private road lanes will increase of

service road level and reduce the level of road traffic congestion and this may effect in a switch of all or some

private transport mode users to public transport modes.

Key words: Own car, Public transport modes, logit model, shopping Travel time, shopping distance, age, car

ownership and switch probabilities, likelihood..

الملخص

يواجه استقرار الجهد تحديات كبيرة بسبب الطلب المتزايد على الكهرباء والاعتماد على خطوط النقل الطويلة، خاصة في شبكات الجهد المتوسط بجنوب ليبيا. تركز هذه الدراسة على شبكة سبها بجهد 66 كيلو فولت، التي تعاني من عدم استقرار الجهد نتيجة الاعتماد على مصادر توليد الطاقة الشمالية وخسائر الطاقة التفاعلية العالية. باستخدام برنامج، NEPLAN تم تقييم فعالية جهازين من تقنيات، FACTS وهما المعوض المتزامن الثابت (SVC) والمعوض المتزامن الديناميكي، (STATCOM) في تحسين استقرار الجهد.

تناولت الدراسة ثلاثة سيناريوهات: بدون تعويض، باستخدام، SVC وباستخدام. STATCOM أظهرت النتائج أن كلا الجهازين يحسنان استقرار الجهد بشكل ملحوظ ويقللان من خسائر الطاقة، مع تفوق STATCOM في الاستجابة الديناميكية والكفاءة الإجمالية. تؤكد هذه النتائج أهمية تقنيات التعويض المتقدمة في ضمان استقرار وموثوقية توصيل الطاقة في الظروف التشغيلية الصعبة.