Intelligent mobile robots need to deal with different kinds of uncertainties in order to perform their tasks, such as tracking predefined paths and avoiding static and dynamic obstacles until reaching their destination. In this research, a Robotino® from Festo Company was used to reach a predefined target in different scenarios, autonomously, in a static and dynamic environment. A Type-2 fuzzy logic controller was used to guide and help Robotino® reach its predefined destination safely. The Robotino® collects data from the environment. The rules of the Type-2 fuzzy logic controller were built from human experience. They controlled the Robotino® movement, guiding it toward its goal by controlling its linear and angular velocities, preventing it from colliding obstacles at the same time, as well. The Takagi–Sugeno–Kang (TSK) algorithm was implemented. Real-time and simulation experimental results showed the capability and effectiveness of the proposed controller, especially in dealing with uncertainty problems.

In this paper, the problem of voltage unbalance in the three-phase power systems is examined. A fast detection technique (FDT) is proposed to detect the voltage unbalance precisely and speedily. The well-known detection methods require more than one cycle time to detect the unbalanced voltages, whereas the proposed technique detects the unbalanced situations speedily in a discrete manner. Reducing the time duration required to detect the unbalanced voltages will enhance the dynamic response of the control system used to balance these voltages. The FDT acquires the instantaneous values of the three load voltages, calculates the sum and the space vector for these voltages at each sample, and utilizes these parameters to detect the voltage unbalance accurately within a quarter of the cycle time. A proof-of-concept simulation model for a real power system has been built. The parameters of the aqaba-qatrana-south amman (AQSA) Jordanian power system are considered in the simulation model. Also, several test cases have been conducted to test and validate the capabilities of the proposed technique.

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It has recently been widely recognized that code-switching is prevalent in Jordanians' daily conversation in various situations such as home, cafés, universities, restaurants and clubs. Abalhassan and Alshalawi (2000: 183) made a very related observation on code switching behavior among Arab speakers of English that "without exception, all respondents switched into English to some degree". This could be referred to the increase number of technological advances and people travelling across countries for pleasure or for pursuing further education. In light of this observation, the crucial role of language in people's life, ambivalent attitudes towards code-switching (Akbar, 2007), the dearth of research in this area, such a present study is required to explore Jordanian university students' and instructors' perceptions of code-switching in their daily classroom conversation and its expected impact on their language proficiency. In particular, it investigates the factors leading them to code mix and their underlying attitudes towards its expected future impact on their language proficiency. To the best knowledge of the present researcher, this study is the first of its kind in Jordan. Data was collected via semi-structured interviews and a questionnaire from 70 university students and 30 instructors from both Philadelphia University and the Hashemite University. Data revealed that code mixing between English and Arabic is a common phenomenon in lectures they have attended in their academic institutions. The participants also show that they find code mixing fascinating and believe that though code switching might have a positive impact on their learning as it helps them better understand the topic. The instructors revealed that code mixing fulfill a set of functions that serve the educational process.

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