mohammad danesh

The purpose of study was to compare teacher training internship at Farhangian University of Iran with Southeast Missouri University and Harvard University in USA. The research method was comparative-analytical and data was collected and analyzed through documentary method and Bereday method respectively. The research population included all teacher training universities with internship courses in the world and the method of selecting universities was targeted sampling. Curricula of selected universities were extracted using checklists as well as executive documents of teacher training and internship courses. Comparison of the internship period in these three universities according to dimensions such as characteristics of teacher training and the internship program were carried out. The findings show that in terms of characteristics, length of teacher training course and educational content, Farhangian University is similar to Missouri University and different from Harvard University. Also, in terms of the length of internship period (hours and semester), the three universities differ from each other. There are similarities among three universities in terms of the characteristics of the professors and mentors and the evaluation method, but in terms of the topics of the internship, fundamental differences are evident. According to the findings, it is suggested to the decision-makers and planners of Iran's teacher education system, while increasing the supervision of the implementation of internship courses in Farhangian University provide the opportunity to hold teacher training courses in other universities of the country.

In this paper, a robust proportional-(proportional-derivative) controller is designed for an autonomous underwater vehicle using quantitative feedback theory in the presence of plant uncertainty and disturbances in diving plane motion. The controller is designed in cascade feedback in the presence of parametric uncertainty, ocean currents, sea waves, and fin error. The proportional-derivative controller controls the angle of the vehicle pitch and an outer proportional loop controller will control the vehicle depth. Since using classical methods to adjust proportional-derivative for the inner loop and proportional for the outer loop, despite the plant uncertainty and the presence of disturbances, is complex and time-consuming. therefore, the quantitative feedback theory technique, as a robust controller method, is used in this research. System stability is considered in the design process. All design steps are based on linearized equations of motion but the performance of the proportional-(proportional-derivative) controller designed by the robust quantitative feedback theory method is simulated numerically for nonlinear dynamic equations of motion. The simulation results show that the designed proportional-(proportional-derivative) controller using quantitative feedback theory offers robust stability, disturbance rejection, and proper reference tracking over a range of autonomous underwater vehicle parametric uncertainties.

In this article, while introducing the ten criteria for writing a textbook, the opinions of experienced teachers in Tehran have been collected in the form of a researcher-made questionnaire and analyzed using the Chi-square test. The research method is a survey that, by designing a questionnaire with 15 questions, examines the degree to which the book follows the ten criteria for writing a desirable textbook that includes covering the main elements of a curriculum. The statistical population of the study was 20 experienced and knowledgeable teachers in 19 districts of Tehran. Based on the results of this study, the authors of the book Biology have had successful performance in 4 components: "Accurate and growing design, attention to higher levels of performance, evaluation in the service of learning and a path to new learning." And they did not perform well in criteria such as "paying attention to learners' pre-knowledge, paying attention to active learning methods, paying attention to group and social learning, the importance of integrated approaches, applying what was learned in the new environment and paying attention to extracurricular tasks". And in the textbook under study, there is little correspondence with the criteria for writing textbooks based on teaching-learning criteria.

The partly unknown environment of the vast seas and the lack of prior accurate map of the workspace is one of the current challenges facing the autonomous underwater vehicle (AUV) in carrying out missions. Real-time path planning for an AUV from an initial position and velocity to a target position and velocity in a partly unknown environment by considering the pre-unknown obstacles is the main motivation of this research. For this purpose, the local rapidly-exploring random tree (L-RRT) algorithm is proposed for the AUV. This L-RRT consists of three tightly coupled components of: a path planning module (PPM), a local real-time path planning module (LRPPM) and an obstacle detection module (ODM). Each of a random vertices and related branch are generated through the PPM and then from the perspective of the kinodynamic constraints are evaluated by the low-level controller and nonlinear AUV model. If the generated vertex and related branch in the considered time satisfy the kinodynamic constraints in simultaneous manner, these and in addition the horizontal and vertical control signals are recorded through the path planner algorithm. If a pre-unknown obstacle is detected by the ODM, path is re-planed through the LRPPM based on the current position and orientation of AUV to the nearest vertex. The L-RRT is implemented on the single board computer (SBC) through the xPC-Target builder and then the ability of this algorithm is evaluated through the processor-in-the-loop (PIL) test. The results of the PIL tests indicate that the AUV through the proposed L-RRT not only plans the path by avoiding the pre-unknown obstacles in a cluttered environment, but also due to the random nature of this method the path is planned in a real-time manner.

In this paper, a control system is designed for automatic car turning. At first, the necessary information of car turning that were collected from the traffic bylaw, car driving training centers and traffic police are explained. Then, car turning is studied experimentally on several streets with different widths. Afterward, a proper path is designed for the automatic car turning system considering traffic rules and nonholonomic constraint. Also, an appropriate sliding mode controller is designed and a novel fuzzy decision making system is proposed for the automatic car turning system. A car like mobile robot is designed and manufactured based on small scale parameters of a sedan car. Finally, the automatic car turning system is implemented on this car like mobile robot. Simulation and experimental results of the designed control system confirm the effectiveness of the proposed control system.