This paper proposed a detailed study for the response of angular position of the rotor of a DC motor. It is a comparative analysis to the behavior of the DC motor when the motor is alone and when it is with controllers. Furthermore, a comparison between the responses of controllers themselves. A conventional PID controller which was tuned by using Ziegler and Nichols method was proposed in this paper. Also, Modification PID controllers were proposed in this paper. The modification PID controllers are PI-D controller and I-PD controller. Mathematical calculations were done to get the transfer functions for the DC motor and the controllers. Time domain specifications and figures were obtained for each case by using Matlab program. The obtained results were summarized in tables. This paper determined which the controller is the best one depending on the obtained figures and the time domain specifications.

There are several profits of distributed generator (DG) units which are believed for improving the safety of the distribution power grids. However, these profits can be maximized by ensuring optimum sizing and positioning of DG units because an arbitrary location of DG units may adversely affect and jeopardize power grids which could contribute to maximising of power loss and degradation of the voltage profile. Therefore, several approaches were suggested to ensure optimum position and size of DGs. The primary aim of this article is for establishing technique for optimum scheduling and operating of DG to lessen power loss, revamp voltage profile and overall network reliability. Artificial intelligence method called particle swarm optimization (PSO) is utilized for finding the best site and size of DG to lessen power loss and boost the voltage profile. In this paper, IEEE 33 distribution system is utilized to display applicability of PSO. The results of the PSO are compared with the results gotten by other methods in the literature. Finally, the results show that the PSO is superior than the other methods.

<span lang="EN-US">This paper proposed the step angle controlling of the half-step mode operation of the variable reluctance stepper motor (VRSM) by using Mamdani type of fuzzy logic controller (FLC). The MATLAB program was used to achieve the approach. The VRSM that was used in this paper has six stator poles and four rotor poles. The VRSM has three phases that represent the input variables and the step angle represents the output variable in the FLC in MATLAB. Membership functions were created for the input and output variables. The rules of the FLC were built in MATLAB. The theoretical step angles results of the VRSM were obtained by using mathematically equation while the practical results were obtained by using MATLAB. The obtained results are closer to the actual results depending on the comparison between the theoretical and practical readings. These results were written in table and were plotted in figure.</span>

<span>The main objective of this research is to study the obstacle avoidance, Monte Carlo Localization (MCL) method, motion planning in dynamic networks for mobile robots, and mobile robots wheels depending on the previous published researches. The researchers had done their experiments on different mobile robots and had validated them. This research helps the readers to learn how the robot changes its directions to prevent itself from collisions depending on three ultrasonic sensors. Also, they will learn the localization of the mobile robots depending on the recorded data from RHINO and MINERVA robots. In addition to learning the obstacle avoiding and the localization of mobile robots, the readers will learn new planning framework. Furthermore, they will get knowledge in types of mobile robots wheels.</span>