PHD theses : Engineering

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Start date: 2011End date: 2019

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    Artificial Neural Network Based Fault Location for transmiss ion line
    (AlNEElAN UNVERSLTY, 2019-03) EIMAN OMER MOHAMMED SALEH Babiker
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    Control of Autonomous Vehicles Using Intelligent System
    (Al-Neelain University, 2019-05) Ahmed Athnin Nusk Ahmed
    Wheeled mobile robots (WMRs) have been used in industries to move things from place to place, where the robot has to know its specified trajectory. For the WMR to track it's desired trajectory, a good control law is needed, such that the robot can follow its path with a minimum error. This work presents the tracking control of WMR utilizing a nonlinear control method based on backstepping approach. The kinematic model of WMR is obtained. The pro-posed controller is evaluated through circular path via simulation work using MATLAB/SIMULINK. Furthermore, the thesis illustrates image recognition based on backpropagation ANN (BP ANN). The BP ANN is trained via video stream to detect and recognize traffic light signal. It's found that, the proposed controller can perform the tracking task of WMR with minimal error. Moreo-ver, the BP ANN can recognize the traffic light signal with good accuracy. It's recommended that to use BP ANN with WMR for outdoor navigation to detect the traffic light signals.  تم استخدام الروبوتات المتحركة ذات العجلات في الصناعات لنقل الأشياء من مكان إلى آخر ، حيث يجب أن يعرف الروبوت مساره المحدد. لكي يتتبع المسار المطلوب ، هناك حاجة إلى قانون تحكم جيد ، بحيث يمكن للروبوت أن يتبع مساره بأقل قدر من الخطأ. يقدم هذا العمل التحكم في التتبع باستخدام طريقة التحكم غير الخطية القائمة على نهج الخوارزمية ذات الخطوات الرجعية. تم الحصول على النموذج الحركي للروبوتات المتحركة ذات العجلات. يتم تقييم وحدة التحكم المقترحة من خلال مسار دائري عبر أعمال المحاكاة باستخدام بيئة برنامج الحاسوب متلاب. وايضا، توضح الأطروحة التعرف على صور اشارة المرور باستخدم نظام شبكة اعصاب صناعية. لاكتشاف إشارة المرور والتعرف عليها لقد وجد أن وحدة التحكم المقترحة يمكنها أداء مهمة تتبع الروبوتات المتحركة بأقل قدر من الخطأ. وبعد الاختبار وجد نظام الشبكة العصبية الامامية الانتشار اظهرت نتائج دقيقة مقارنة مع الشبكات العصبية الاخرى وذلك له تأثير كبير في تحسين العربات ذاتية القيادة.
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    The Sequential Elicitation System for Requirement Process Enhancement (SESRPE)
    (Neelain University, 2019) Hatim Mohammed Elhassan Ibrahim Dafaalla
    Abstract Requirements elicitation is the process of identifying software or system requirements from various sources through interviews, workshops, workflow and task analysis, document analysis, and other mechanisms. It is typically, the first phase of requirement engineering, therefore it can be argled that requirements elicitation is in fact the first stage of the software development lifecycle, and consequently, a prerequisite for all the other major development activities. Requirements elicitation is all about learning and understanding the needs, desires, and expectations of users and customers. The unfortunate failure reports in IT systems development depict an enormous cost. Concerning the fact that trends show the failure rate have gone up, while the number of successful ones has decreased in the last five years, Clearly, the failure of information systems projects is a global problem of significant size, attributed to the wrong requirement elicitation practices at the first phase of the projects. The research focuses on the requirement elicitation process with respect to requirement engineering. Accordingly, three major issues of the requirement elicitation processes are considered in this research: the improper elicitation technique selection, conflicted requirement as a result of communication obstacles, and the lack of hidden knowledge / missing requirements detection mechanism. Hence, the researcher proposed a Sequential Elicitation System for Requirement Process Enhancement (SESRPE) for the requirement elicitation. The elicitation system (SESRPE) consists of three different subsystem models; each tackles a different problem domain: Elicitation technique selection model, missing/hidden requirements detection model, conflict resolution, and communication model. The elicitation technique selection model solves the issue of the improper technique selection that leads to improper requirements output. The proposed mathematical model relies on the system analyst, stakeholder, and techniques surveyed attributes ratios to train the data using k-nearest neighbors’ algorithm to provide the best optimal technique nomination according to the elicitation case complexity. The requirements conflict resolution and communication model solve the issues rooted in the communication pattems, resulting in ambiguity, misinterpretation, incomplete requirement, inappropriate requirement, and requirements conflicts. The proposed model classifies the techniques according to their knowledge, transfers preference, secures the stakeholder’s involvement using the resistance protocol, introduces the conflict detection and resolution mechanism based on the nonnalized cross correlations function (NCCF), and the standard error (SE) function effectively, to refine the conflicted requirements and measure the requirement accuracy. The missing/hidden requirements detection model solves the issue of the unknown requirements. The proposed model relies on a procedural process to detect and classify the new requirements based on the given project characteristics and boundaries. The algorithmic design of elicitation system (SESRPE) has the ability to produce a clear and complete set of conflict free requirements, effectively to elevate the success rate of the IS projects, define the project budget boundaries and reduce time spend in the elicitation process. The elicitation system (SESRPE) is designed to be flexible and adaptable to handle requirement volatility and complexity.
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    Hand over in a Hybrid Visible Light Communication (Li-Fi) and RF Radio Frequency (Wi-Fi) networks using Adaptive Neuro-Fuzzy System (ANFIS)
    (Neelain University, 2018) Hanaa Omer Aboalgasim Omer
    ABSTRACT A hybrid LiFi/RF network where the LiFi attocell covers a few square meters, user movement may prompt frequent handovers, and the handover overhead would degrade the system throughput. The goal is to reduce the handover overhead by appropriately assigning users to either the RF or the LiFi access point (AP). This project proposes a novel adaptive neruo- fuzzy logic (ANFIS)-based decision-making algorithm for VHO, which is capable of combining the merits of both schemes to achieve excellent handover, the proposed fuzzy logic based VHO decision-making algorithm has the potential to provide lower errors and better quality of service (QoS) to users in future wireless broadband communications. The desired results of execution and implementation were reached and error value is equal 3.85e-7.
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    SETTING QoS Wi-Fi PARAMETERS FOR THE SUDAN
    (Neelain University, 2018) Diaeldin Awad Abdelrahman Elgamel
    Abstract Sudan telecom market has no existing parameters for WiFi QoS parameters The main objective of this research is to set four QoS WiFi parameters (delay, retransmission attempts, jitter and throughput) to overcome the complete absence of such parameters for QoS WiFi in Sudan, Wifi QoS parameters has to be considered as an important factor for the wireless technology, hence they should be organized and controlled to meet the end users quality of service (QoS) perceptions . Difficulties and challenges face the research, as a few countries have their QoS WiFi parameters. Number of related experiences on the topic handled by author was addressed and analyzed, which were taken as references for the research as a bench mark. Simulation software Opnet 17.5 has been fed with the experimental inputs, and was used to generate the parameters by feeding the simulation with the adequate inputs. Many published research were addressed to compare the simulation results with. Simulations resulted parameter, addressed, analyzed and discussed. Many recommendations were proposed, from which the regulator was asked to consider these parameters as a pilot scheme and could be mandated to WiFi providers in Sudan market, recommendation for enhancement and generating annual reports was upraised. The metric parameters values obtained were compared with the references results. The final output metric parameters, has been recommended as pilot values for the four addressed parameters. A completion of the remaining QoS WiFi parameters by authority or researchers is highly recommended. المستخلص سوق الإتصالات بالسودان لا توجد به بارمترات لجودة خدمات الواي فاي . من أهم أهداف هذا البحث إيجاد قيم رقمية لأربعة من بارامترات جودة خدمات الواي فاي وهى:- (تأخر وصول البيانات ,عدد محاولات إعادة الإرسال ,التغير الحادث من تأخير وصول البيانات ,النفاذية ). تعتبر بارميترات جودة خدمات الواي فاي من أهم عناصر التكنلوجيا اللاسلكية ,وعليه لابد من تنظيمهم والتحكم بهم لمقابلة إحتياجات المشتركين . لقد واجه البحث بعض الصعوبات لقلة عدد الدول التي وضعت بارميترات لجودة خدمات الواي فاي . وقد تناول البحث عدد من الأوراق ذات العلاقة بموضوع البحث وتم إخضاعها للدراسة واتخذت بعض الأبحاث كمراجع البحث . تم إستخدام المحاكي أوبنت (17,5) في هذا البحث لإستخراج النتائج وفد تمت مقارنتها بالأبحاث المنشورة كمراجع للنتائج .
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    Technical Risks Associated With Some Sudanese Telecommunications Networks And Proposed Solutions
    (Neelain University, 2016) Mohammed Tahseen Eid Al Agha
    Abstract As today’s business world is dynamic and constantly changing, a plenty of surprises and risks taken into consideration appear suddenly, leading to block the implementation of engineering projects or may cause a total collapse. The dissertation focuses on three main issues: 1) technical risks associated with telecom transmission media. 2) multiple criteria and decision making, 3) cost and schedule risks associated with telecom network. This research highlights the use of the advantages ‘of performing qualitative and quantitative analysis techniques as a methodology to provide better information to support critical decisions. These methodologies help to evaluate and estimate the size of contingency reserves for the time and cost that would be appropriate for stakeholders. The technique used in the risk assessment is focused on five main issues: 1) Root cause analysis method which is a serious method of problem solving. 2) Expected monetary value which is a simple calculation of a value such as expected cost target. 3) Decision tree analysis that is a pOWCl’fill utility for choosing an option from alternatives. 4) Analytical Hierarchy Process (AHP) in order to make decision in complex problems. 5) Simulation models such as sensitivity analysis and Monte Carlo simulation in order to meet sufficient results in cost estimation and schedules. In the first scenario, a complete risk register is constructed involving risk identification, risk triggering, risk severity, risk analysis, risk response, and risk monitoring. The second scenario represents decision making in telecom companies to select the best suitable and appropriate transmission lines types. _Six criteria were identified such as Installation cost, capacity, Security, immunity to noise, issue of latency, and distance for getting the best type of transmission lines among the three alternatives options such as fiber optic, VSAT, and microwaves under consideration. The third scenario shows a simulation- based approach of assessing the risk and uncertainty involved in estimating the expected eamings of a mobile communication company according to traffic intensity principle. The procedure involves using of sensitivity analysis modeling, and spreadsheet sofiware, such as Excel, is a common tool for perfonning this model. This method shows the influence of five main factors influencing the effectiveness of trunking theory. This leads stakeholders to avoid the risks associated to cost by taking attention to the five parameters related to mobile traffic intensity such as number of users, number of calls, call duration, initial cost of call duration, and price of call duration. The research also provides some of the obstacles faced by telecommunications companies such as the problem of increase network capacity, in order to support many new users. To complete this task, Monte Carlo simulation is applied. Monte Carlo is a computerized mathematical technique that allows people to account for risk in quantitative analysis and decision making. The pr0ject’s problem is divided into four jobs; Hardware Installation, Software Configurations, Electrical wiring, and Civil Works. Based on prior experience or other expert knowledge, risk manger can determine the best case, most-likely, and worst-case estimates for each of these activities.
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    Studies on the Effect of Electromagnetic Field Exposure on Experimental Animals
    (Neelain University, 2011) Yassir Salaheldin Khalil Osman
    Abstract The study was planned to evaluate the effect of two different electromagnetic fields (EMF) on experimental animals at different exposure levels. In the first experiment, the mice were exposed to isothermal non-ionizing EMF, represented by the man-made visible light (artificial visible light of intensity of 77 mW/cmz on the area of 72.5 cmz and frequency of EM radiation within (3.9x1Ol4 Hz and 7.5x10'4 Hz W/cmz) 8 hours per day for 3, 6 and 12 days respectively . In the second experiment, mice were exposed to lmT magnetic field (MF) (12 hours/day) for 15, 30 or 60 days. The present used strengths were chosen because they are almost similar to the level of human exposure. The first experiment showed that exposure of mice to visible light caused time-dependent dramatic histological alterations of the testis and pituitary glands. Exposure caused severe degenerative effects on the testes histological architecture, size and reduction in the seminiferous tubules‘ diameters. Transmission electron microscopy (TEM) clarified that the degenerative effects were evident in all germ and Sertoli cells. In the pituitary glands, visible light caused degenerative effects in the gonad trope cells, mild to moderate hemorrhage after 3 and 6 days of treatment, and severe hemorrhage and shrinkage of most pituitary gland secretary cells after 12 days. Serum biochemical analysis of testosterone, follicular stimulating hormone (FSH), luteinizing hormone (LH) and the hypothalamus Gonad tropic releasing hormone (GnRH) that stimulates the pituitary gland regulation of testicular testosterone through the FSH and LH hormones were allfound to be time-dependent and significantly decreased by exposure particularly after 12 days. Visible light did not affect the serum total protein levels, aspartate aminotrausferase (AST) activity, alanine aminotransferase (ALT) activity or growth hormone (GI-I) levels. DNA ploidy analysis revealed no carcinogenic effect on the pituitary glands, however it revealed significant down regulation of the proliferative activity of the cells after 12 days. On the other hand, the results of experiment (2) showed no histopathological effects of type of magnetic field on any organ of the mice. The results indicate that man-made visible light but not static magnetic field may affect the endocrine homeostasis of mice by exerting histopathological changes in the pituitary glands cells that may subsequently cause a harmful effect on the testis through reducing the gonad tropic hormones activities that regulates testicular spermato genesis and integrity
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    Technical Risks Associated With Some Sudanese Telecommunications Networks And Proposed Solutions
    (Neelain University, 2016) Mohammed Tahseen Eid Al Agha
    Abstract As today’s business world is dynamic and constantly changing, a plenty of surprises and risks taken into consideration appear suddenly, leading to block the implementation of engineering projects or may cause a total collapse. The dissertation focuses on three main issues: 1) technical risks associated with telecom transmission media. 2) multiple criteria and decision making, 3) cost and schedule risks associated with telecom network. This research highlights the use of the advantages ‘of performing qualitative and quantitative analysis techniques as a methodology to provide better information to support critical decisions. These methodologies help to evaluate and estimate the size of contingency reserves for the time and cost that would be appropriate for stakeholders. The technique used in the risk assessment is focused on five main issues: 1) Root cause analysis method which is a serious method of problem solving. 2) Expected monetary value which is a simple calculation of a value such as expected cost target. 3) Decision tree analysis that is a pOWCl’fill utility for choosing an option from alternatives. 4) Analytical Hierarchy Process (AHP) in order to make decision in complex problems. 5) Simulation models such as sensitivity analysis and Monte Carlo simulation in order to meet sufficient results in cost estimation and schedules. In the first scenario, a complete risk register is constructed involving risk identification, risk triggering, risk severity, risk analysis, risk response, and risk monitoring. The second scenario represents decision making in telecom companies to select the best suitable and appropriate transmission lines types. _Six criteria were identified such as Installation cost, capacity, Security, immunity to noise, issue of latency, and distance for getting the best type of transmission lines among the three alternatives options such as fiber optic, VSAT, and microwaves under consideration. The third scenario shows a simulation- based approach of assessing the risk and uncertainty involved in estimating the expected eamings of a mobile communication company according to traffic intensity principle. The procedure involves using of sensitivity analysis modeling, and spreadsheet sofiware, such as Excel, is a common tool for perfonning this model. This method shows the influence of five main factors influencing the effectiveness of trunking theory. This leads stakeholders to avoid the risks associated to cost by taking attention to the five parameters related to mobile traffic intensity such as number of users, number of calls, call duration, initial cost of call duration, and price of call duration. The research also provides some of the obstacles faced by telecommunications companies such as the problem of increase network capacity, in order to support many new users. To complete this task, Monte Carlo simulation is applied. Monte Carlo is a computerized mathematical technique that allows people to account for risk in quantitative analysis and decision making. The pr0ject’s problem is divided into four jobs; Hardware Installation, Software Configurations, Electrical wiring, and Civil Works. Based on prior experience or other expert knowledge, risk manger can determine the best case, most-likely, and worst-case estimates for each of these activities.
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    FUNCTIONAL PROPERTIES OF SOME LEGUME PROTEIN ISOLATES AND THEIR UTILIZATION IN THE MANUFACTURE OF BREAD, SAUSAGE AND ICE CREAM
    (Neelain University, 2011) Abdel Rahman Sirelkhatim Mohammed Eltayeb
    ABSTRACT The Bambara groundnuts used in this study were purchased from a local market at Neyala, western Sudan. The chemical analysis was carried out at the Laboratory of International Food Research Center, Dokki,( Egypt. Pigeon pea and black-eyed peas were obtained from Khartoum North (Bahri market), milled and their chemical compositions were_carri__ed_ out at the Food A_naly§§ Laboratory, Department of Food Science and Technology, University of Gezira. Proximate analysis in terms of % of protein, fat, ash, crude fiber and total carbohydrates (CHO)in dry matter basis were 12.90, 1.02, 0.62, 0.86 and 84.60% for wheat flour, 85.97, 0.0, 3.37, 0.02 and 10.64 for the Bambara protein isolate. 17.70, 6.58, 4.22, 3.5 and 68.0% for Bambara groundnut flour respectively. Chemical composition of the pan bread supplemented with different levels of (0.0, 5.0, 9.5 and 12.25%) Bambara protein isolate, the results obtained indicated that all the chemical composition (except moisture and carbohydrate) of the pan bread were higher than the control product made from wheat flour. Breads from wheat flours containing various blends ratios of (5, 9.5, 12.25%) protein isolate flour resulted in an increase in the protein content in the blends of composite flour from 13.04 for the control to about (15.71, 18.55, 20.81%) respectively. Moisture, protein, fat, crude fiber, ash and carbohydrates were 11.0, 22.0, 1.7, 4.2, 2.5 and 58.6 in pigeon pea .0.0, 85, 0.0, 0.03, 2.3 and 12.7 in pigeon pea protein isolate flour, respectively. Chemical composition of the sausage fortified with different levels of (0.0, 1.5 and 3.0%) of pigeon pea protein isolate was increased with the increase of pigeon pea protein isolate flour added, protein content was increased from 18.4% of the control to (19.7 and 21.0%). Proximate analysis is 10, 19.8,10.5, 2, 3.1 and 54.6% of black-eyed pea flour, 0.0, 83.6, 0.0, 0.0, 1 and 15.4% of black- eyed pea protein isolate flour, ‘respectively, but the chemical composition of lll
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    Balancing and Trajectory Tracking Control of Mobile Robot Using Robust Intelligent System Based on 3D Animation
    (جامعة النيلين, 2018) Ahmed Jaber Abougarair
    Abstract Wheeled robots have gained worldwide attention from research communities and which are expected to be a beneficial and revolutionary mechanism for the next generation robotic systems. One type of robot is a Two-wheeled Balancing Mobile Robot (TWBMR) that requires control for both balancing and maneuvering. Modern two-wheeled mobile robot control is further complicated due to the presence of one unstable equilibrium point, which requires a continued stabilization of the robot. In this thesis, the coupled nonlinear mathematical model of the TWBMR system is derived in which different control design approaches such as modern, intelligent and robust controllers are designed and applied to stabilize and improve the tracking and robust performance of this considered system. Where the uncertainties due to model fluctuations and an exogenous disturbance are taken into account. According to the mentioned concepts, the novel controller is proposed and synthesized in this dissertation as a hybrid controller strategy (HCS) to achieve the considered design requirements. The basic idea of the proposed HCS depends on various control algorithms implemented based on feedforward and feedback control strategy with overlapping three phases. Firstly, design an optimal controller based model reference control system and tuning the parameters using a complex computer program. Secondly, design parallels dual PID controllers based optimal control algorithm designed in the first stage. Finally, design a hybrid controller by combining the controller designs in previous two stages in one model and tuning them via sequential quadratic programming (SQP) technique. The most important advantage of the hybrid controller is that it makes the control to be insensitive to external disturbances and model uncertainties of the system. In addition, the optimal observer-based controller is considered as well, where the OELQRIC is applied her as an observer, which have a better performance for estimating the states and removing the uncertainty signal. Another aim of this thesis is to design and implement the software algorithm of ANFIS controller by using the combination of artificial intelligence including ANN and FLC. Where the feedforward neural networks are trained offline to model and identify the nonlinear robot system and then transferred the neuro model into a process where an adaptive online learning is carried out using ANFIS to improve the system performance that controlled using FLC and HC. To test the influence of these designed controllers on the system performance the advanced simulation is enhanced with 3D animation by including a virtual world of a TWBMR system and decoupling designed controllers algorithms. All the proposed algorithms have been investigated through Matlab-Simulink, GUI, IUI, and visualization implementation using Virtual Reality Modeling Language (VRML) under different initial conditions to observe the behavior of the robot in different scenarios and validate the significance and effectiveness of them for the performance regulation and trajectory tracking. Finally, the software package called Adaptive and Coupling Modified Controller for TWR (ACMCTWR) is created which is a new contribution to the TWRs. This toolbox is used to describe the system trajectories behavior under different considered controllers in a simplified manner.   المستخلص تشكل الروبوتات ذات العجلات اهتمامًا عالميًا في المجتمعات البحثية والتي من المتوقع أن تكون آلية مفيدة وثورة للأنظمة الروبوتية من الجيل التالي. إن أحد أنواع الروبوت هو الروبوت ثنائي العجلات المتزن أثناء الحركة (TWBMR). ان التحكم في هذا النوع يزداد تعقيدا بسبب وجود نقطة توازن واحدة غير مستقرة، الأمر الذي يتطلب التحكم بدقة عالية وبشكل مستمر في كل من الاتزان والمناورة أثناء الحركة. في هذه الأطروحة تم تصميم مجموعة من أساليب التحكم المختلفة التي تتكون من متحكمات ذكية وقوية يمكنها المحافظة على اتزان الروبوت أثناء الحركة لتتبع مسار محدد حتى في وجود إشارات واضطرابات خارجية غير مرغوب بها. إن وحدة التحكم الجديدة المقترحة في هذه الأطروحة هي وحدة التحكم الهجينة (HCS) والتي تهدف إلى التحكم القوى مع ضمان الاستقرار أثناء الحركة والقدرة العالية على المناورة وذلك لتعزيز أداء الروبوت. تعتمد الفكرة الأساسية في تصميم المتحكم المتكامل أو المتحكم الهجين على الربط بين ثلاث خوارزميات متنوعة تستند في عملها على استراتيجية التحكم في التغذية الأمامية والخلفية في نفس الوقت. أولا تم تصميم المتحكم الأمثل وذلك باستخدام برنامج حاسوبي معقد بحيث يكون الغرض من هذا المتحكم جعل تصرف النظام اللاخطى يتبع تصرف النظام المرجعي (MRCS). ثانيا، تم تصميم وحدات التحكم المزدوجة PID والتي تعمل بشكل متوازي، وتم تعين بارامترات هذه المتحكمات باستخدام خوارزمية المتحكم الأمثل المصممة في المرحلة الأولى. وأخيرا تم تصميم وحدة التحكم الهجين باستخدام الجمع بين المرحلتين أعلاه في نموذج واحد وهرمى وتم إيجاد قيم بارامترات وحدة التحكم المصممة باستخدام تقنية البرمجة التربيعية المتتابعة (SQP). إن أهم ما يميز المتحكم الهجين هو أنه يعطى النتائج المطلوبة وبدقة عالية ويجعل النظام غير حساس للاضطرابات الخارجية. أيضا وفى نفس السياق في هذه الاطروحة تم تصميم المراقب الأمثل القائم على مبدأ عمل المتحكم، ومن خلال النتائج المتحصل عليها اتضح أن المراقب OELQRIC له القدرة على تقدير حالات النظام بدقة عالية. وفى سياق اخر ولتحسين أداء الربوت تم استخدام تقنيات الذكاء الصناعي المتمثلة في كلا منFLC، NN وذلك للتحكم في أداء TWBMR حيث تم تكوين النموذج الرياضي للنظام باستخدام الشبكات العصبية الصناعية (ِANN) والتي تم تدريبها دون اتصال (off-line)، ولتحسين الأداء والحصول على المواصفات المطلوبة تم وضع هذا النموذج (Neuro model) في مسار التحكم المغلق وتم التحكم به باستخدام تقنية ANFIS وبالتالي أصبحت عملية التعلم والتحكم تتم بشكل (on-line). ومن خلال نتائج المحاكاة اتضح أن استراتيجية تكوين النموذج والتحكم به باستخدام التقنيات الذكية يمكن أن تحقق أداءً مفضلاً وخاصة أن وحدة التحكم ANFIS لا تحتاج إلى نموذجًا رياضي دقيقًا للنظام ولا تحتاج إلى معرفة عالية المستوى بالنظام وذلك لبناء مجموعة القواعد الخاصة بوحدة التحكم الغامض (FLC). تم تعزيز المحاكاة باستخدام الرسوم المتحركة ثلاثية الأبعاد من خلال تضمين العالم الافتراضي للربوت بحيث أن جميع الخوارزميات المستخدمة تم تمثيلها باستخدام Matlab-Simulink وواجهة المستخدم الرسومية (GUI)بالإضافة إلى التمثيل البصري باستخدام لغة تصميم الواقع الافتراضي (VRML) وذلك تحت ظروف مختلفة لمراقبة سلوك الروبوت في سيناريوهات مختلفة والتحقق من فعالية هذه الخوارزميات لتنظيم الأداء وتتبع المسار المحدد بدقة عالية. وأخيرًا، تم إنشاء مكتبة أدوات برمجية (ACMCTWR) تجمع نماذج المحاكاة المختلفة للربوت بالإضافة إلى المتحكمات والمراقبات المصممة خلال هذه الاطروحة وبالتالي فان هذه الحزمة البرمجية ستكون وسيلة مفيدة للطلاب والباحثين وذلك لدراسة وتطوير التحكم في سلوك هذا النوع من الروبوتات