Tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi MARA terhadap mata pelajaran Bahasa Inggeris

Kajian ini dilakukan untuk mengenal pasti tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi Mara Sri Gading terhadap Bahasa Inggeris. Kajian yang dijalankan ini berbentuk deskriptif atau lebih dikenali sebagai kaedah tinjauan. Seramai 325 orang pelajar Diploma in Construction Technology dari Kolej Kemahiran Tinggi Mara di daerah Batu Pahat telah dipilih sebagai sampel dalam kajian ini. Data yang diperoleh melalui instrument soal selidik telah dianalisis untuk mendapatkan pengukuran min, sisihan piawai, dan Pekali Korelasi Pearson untuk melihat hubungan hasil dapatan data. Manakala, frekuensi dan peratusan digunakan bagi mengukur penguasaan pelajar. Hasil dapatan kajian menunjukkan bahawa tahap penguasaan Bahasa Inggeris pelajar adalah berada pada tahap sederhana manakala faktor utama yang mempengaruhi penguasaan Bahasa Inggeris tersebut adalah minat diikuti oleh sikap. Hasil dapatan menggunakan pekali Korelasi Pearson juga menunjukkan bahawa terdapat hubungan yang signifikan antara sikap dengan penguasaan Bahasa Inggeris dan antara minat dengan penguasaan Bahasa Inggeris. Kajian menunjukkan bahawa semakin positif sikap dan minat pelajar terhadap pengajaran dan pembelajaran Bahasa Inggeris semakin tinggi pencapaian mereka. Hasil daripada kajian ini diharapkan dapat membantu pelajar dalam meningkatkan penguasaan Bahasa Inggeris dengan memupuk sikap positif dalam diri serta meningkatkan minat mereka terhadap Bahasa Inggeris dengan lebih baik. Oleh itu, diharap kajian ini dapat memberi panduan kepada pihak-pihak yang terlibat dalam membuat kajian yang akan datang

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach

"© 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchronous sampling of sensors and actuators. In this sense, multi-rate asynchronous holds are used to interface signals with different sampling rates. Moreover, an asynchronous fusion method to predict and update mobile robot pose and map is also presented. In addition to this, FastSLAM 1.0 has been also improved by considering the estimated pose with the LS-approach to re-allocate each particle of the posterior distribution of the robot pose. This approach has a lower computational cost than the original Extended Kalman Filtering (EKF) approach in FastSLAM 2.0. All these methods have been combined in order to perform an efficient and robust self-localization and map building process. Additionally, these methods have been validated with experimental real data, in mobile robot moving on an unknown environment for solving the SLAM problem.This work has been supported by the Spanish Government (MCyT) research project BIA2005-09377-C03-02 and by the Italian Government (MIUR) research project PRIN2005097207.Armesto, L.; Ippoliti, G.; Longhi, S.; Tornero Montserrat, J. (2008). Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach. IEEE Robotics & Automation Magazine. 15(2):77-88. https://doi.org/10.1109/M-RA.2007.907355S778815

Viewfinder: final activity report

The VIEW-FINDER project (2006-2009) is an 'Advanced Robotics' project that seeks to apply a semi-autonomous robotic system to inspect ground safety in the event of a fire. Its primary aim is to gather data (visual and chemical) in order to assist rescue personnel. A base station combines the gathered information with information retrieved from off-site sources. The project addresses key issues related to map building and reconstruction, interfacing local command information with external sources, human-robot interfaces and semi-autonomous robot navigation. The VIEW-FINDER system is a semi-autonomous; the individual robot-sensors operate autonomously within the limits of the task assigned to them, that is, they will autonomously navigate through and inspect an area. Human operators monitor their operations and send high level task requests as well as low level commands through the interface to any nodes in the entire system. The human interface has to ensure the human supervisor and human interveners are provided a reduced but good and relevant overview of the ground and the robots and human rescue workers therein

Autonomous mobility for an electronic wheelchair

Despite the rapid development of medical technologies the health sector does not yet offer any universal remedy for people suffering from permanent impairment of motor functions. Individuals depending on the range of disability require rehabilitation and help to perform the ALDs (activities of daily living). To aid people affected by the impairment and relieve from some duties the ones responsible for helping them the electronic wheelchair was developed. One of the functions of the electronic wheelchair is supposed to be autonomous navigation with speech recognition. The main objective of this project was to extend the existing electronic wheelchair solution with all necessary equipment and software necessary to make the autonomous navigation possible. As a result, a versatile system was created capable of mapping the working space and navigating in both known and unknown dynamic environments. The system allows dynamic obstacle detection and avoidance, basic recovery behaviors and accepts navigation goals provided by speech recognition.A pesar del rápido desarrollo de las tecnologías médicas el sector de la salud todavía no ofrece ningún remedio universal para las personas sufriendo de falta de control motor. Dependiente del rango de discapacidad las personas requieren rehabilitación y ayuda para realizar AC (actividades cotidianas). Para ayudar a las personas afectadas por discapacidad y relevar de algunos deberes la gente que los soporta se desarrolló la silla de ruedas electrónica. Una de las funciones de ya mencionada silla de ruedas debería ser la navegación autónoma con reconocimiento de voz. Entonces el objetivo principal de este proyecto fue extender la solución existente con todo el hardware y software necesarios para que la navegación autónoma sea posible. El proyecto resultado en creación de un sistema versátil capaz de mapear el espacio de trabajo y navegar en entornos también conocidos y desconocidos. El sistema permite detección y evitación dinámica de obstáculos, soporta comportamientos básicos de recuperación y acepta objetivos de navegación proporcionados por el software de reconocimiento de voz

A review of sensor technology and sensor fusion methods for map-based localization of service robot

Service robot is currently gaining traction, particularly in hospitality, geriatric care and healthcare industries. The navigation of service robots requires high adaptability, flexibility and reliability. Hence, map-based navigation is suitable for service robot because of the ease in updating changes in environment and the flexibility in determining a new optimal path. For map-based navigation to be robust, an accurate and precise localization method is necessary. Localization problem can be defined as recognizing the robot’s own position in a given environment and is a crucial step in any navigational process. Major difficulties of localization include dynamic changes of the real world, uncertainties and limited sensor information. This paper presents a comparative review of sensor technology and sensor fusion methods suitable for map-based localization, focusing on service robot applications