Elemen Kerohanian dalam Program Kebersihan Sekolah Menengah di Negeri Selangor Darul Ehsan

Kebersihan kawasan persekitaran yang baik mendorong pelestarian sebuah tamadun yang stabil. Pada tahun 2004, Kementerian Pendidikan Malaysia (KPM) telah memperkenalkan Program Peningkatan Keselamatan, Kebersihan dan Keindahan Alam Sekitar Sekolah (Program 3K). Program ini merupakan penambahbaikan kepada program sedia ada iaitu Program Sekolah Selamat, Program Kesihatan dan Kebersihan serta Program Keceriaan dan Keindahan Sekolah yang dimulakan sejak tahun 1991. Program ini berjaya mengubah pemandangan kawasan sekolah yang lebih ceria dan selamat. Kajian ini berhasrat melihat keberkesanan Program 3K dengan mengenal pasti persepsi, tingkah laku positif dan pembentukan sahsiah pelajar. Hasil kajian mendapati beberapa perkara penting antaranya; secara keseluruhan pengetahuan pelajar terhadap Program 3K berada pada tahap sederhana, secara keseluruhan penerapan elemen-elemen Kerohanian dalam program penjagaan kebersihan dalam Program 3K adalah pada tahap sederhana, persepsi pelajar terhadap keberkesanan Program 3K di sekolah khususnya komponen kebersihan adalah positif, tingkah laku pelajar terhadap penjagaan kebersihan di luar kawasan sekolah adalah positif, persepsi pelajar terhadap tanggungjawab menjaga kebersihan adalah negatif dan perkaitan songsang antara tahap pengetahuan dengan tingkah laku pelajar iaitu semakin tinggi tahap pengetahuan pelajar semakin rendah akhlak pelajar. Data dikumpul melalui pengedaran borang soal selidik. Alat kajian yang digunakan dibina sendiri dengan perbincangan bersama penyelia. Soal selidik diedarkan kepada 300 pelajar di negeri Selangor. Data yang diperoleh diproses menggunakan perisian IBM SPSS Statistics 20. Teknik analisis deskriptif digunakan untuk menilai tahap pengetahuan dan persepsi, ujian-t untuk melihat perbezaan antara pelajar bandar dengan luar bandar dan korelasi bagi melihat perkaitan tahap pengetahuan pelajar terhadap tingkah laku pelajar. Keputusan boleh disimpulkan bahawa tahap pengetahuan pelajar terhadap Program 3K tidak mendorong perilaku positif pelajar dalam menjaga kebersihan kawasan persekitaran. Hal ini disebabkan pelaksanaan dan penerapan aspek kerohanian begitu lemah dan tidak diberikan perhatian dalam membina perilaku dan jati diri pelajar. Hal ini tidak menepati FPK yang bermatlamatkan pelajar seimbang dan menyeluruh dengan menerapkan empat komponen iaitu jasmani, emosi, rohani dan intelek

Desenvolvimento do planejador de trajetória e do sistema de controle em malha aberta de um manipulador robótico de geometria esférica, embarcados em uma plataforma FPGA

Dissertação (mestrado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia mecânica, 2012.Esse trabalho descreve o desenvolvimento e a implementação de um controlador de trajetória retilínea em um robô esférico de 5 graus de liberdade. Para tanto, foi desenvolvida uma arquitetura de controle em malha aberta embarcada em uma FPGA para os três primeiros graus de liberdade do manipulador. Nesse intuito, apresenta-se, nesse trabalho, a modelagem cinemática direta e inversa do manipulador, bem como seu Jacobiano. Essa modelagem permite o controle da trajetória do robô em um caminho retilíneo descrito em coordenadas cartesianas. Na implementação do controle embarcado na FPGA, foi utilizado o microprocessador NIOS II, da Altera. Esse é o responsável pelos cálculos de posicionamento e velocidade do manipulador durante sua movimentação. Também são explicitadas as interfaces de acionamento e controle de cada um dos eixos do manipulador e seus respectivos motores. São ainda apresentadas as experiências de validação dos algoritmos implementados, através de simulações computacionais, bem como a validação das equações utilizadas. Além disso, são apresentados os resultados de movimentação do manipulador, seguindo uma trajetória pré-estabelecida, buscando validar na prática o controle implementado. _______________________________________________________________________________________ ABSTRACTThis paper describes the development and implementation of a controller for straight path trajectory in a spherical robot of five degrees of freedom. To do that, an open loop control architecture (embedded in an FPGA) was developed, for the first three degrees of freedom of the manipulator. Therefore, the direct and inverse kinematic models of the manipulator as well as its Jacobian are presented in this work. This modeling allows us to control the trajectory of the robot in a straight path described in Cartesian coordinates. In the implementation of the embedded controller in the FPGA, we have used the NIOS II microprocessor, from Altera. This is responsible for calculating the position and speed of the manipulator during its motion. Also the interfaces with the controllers of each axis of the handler and their respective engines are specified. We also present experiments to validate the implemented algorithms through computer simulations, as well as the validation of the equations used. Finally, the results are presented of the manipulator motion, following a predetermined path, in order to validate the control implemented in practice

A Methodology for FPGA to Structured-ASIC Synthesis and Verification

Structured-ASIC design provides a mid-way point between FPGA and cell-based ASIC design for performance, area and power, but suffers from the same increasing verification burden associated with cell-based design. In this paper we address the verification issue with a methodology and fabric to directly tie FPGA prototype and functional in-system verification with a clean migration path to structured ASIC. The most important aspects of this methodology are the use of physically identical blocks for difficult-to-verify PLLs, I/O and RAM and a structured re-synthesis of FPGA logic blocks to target cells that guarantees anchor points for easy formal verification. 1