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Displaying results 20221 - 20250 of 38471 in total
Collection
2023 ASEE Midwest Section Conference
Authors
Zina Ebrahim; Abdelrahman Awawdeh; Marc Maguire
method.References[1] N. R. Augustine, P. R. Vagelos, and W. A. Wulf, “Rising above the gathering storm: Energizing and employing America for a brighter economic future,” in National Academies Statements on Science, Technology, and Global Economic Competitiveness to the 109th Congress (First Session), 2005.[2] P. Armbruster, M. Patel, E. Johnson, and M. Weiss, “Active learning and student-centered pedagogy improve student attitudes and performance in introductory biology,” CBE—Life Sci. Educ., vol. 8, no. 3, pp. 203–213, 2009.[3] D. Ebert-May, C. Brewer, and S. Allred, “Innovation in large lectures: Teaching for active learning,” Bioscience, vol. 47, no. 9, pp. 601–607, 1997.[4] J
Collection
2023 ASEE Midwest Section Conference
Authors
Stephen C. Donnelly; Savanah G. Godwin; Nghi K. Ngo; Kaleb B. Manley; Edgar C. Clausen
coefficients (CD) 3 3ranged from 0.64 for the 16 in (4.76 mm) sharp-edged orifice to 0.83 for the 16 in (4.76 mm)straight-bore orifice. Table 1. Steady State Experimental Data and Resulting Discharge Coefficients Orifice do, in z1, ft V, cm3 t, s CD std 3 A 16 in 0.1875 2.75 423 9.05 0.65 0.1875 2.75 360 7.86 0.63 sharp-edged orifice 0.1875 2.75 296 6.50 0.63 average 0.64 0.007 1 B 8 in
Collection
2023 ASEE Midwest Section Conference
Authors
Yimesker Yihun; Lena Lamei
teaching thesubject material and topics related to EM. The study results showed the positive effect of thisapproach on students’ technical knowledge, problem-solving skills, and understanding of thesubject. By bridging the gap between theory and practice, engineering education can be developedto produce graduates who are better equipped to face real-world problems and contribute tosustainable progress in the field. Further research can explore the long-term effects of this approachand its potential for expansion across various engineering disciplines.AcknowledgmentThis work was supported by the Mentorship 360 at Arizona State University's Fulton Schools ofEngineering. The content is solely the authors’ responsibility.References[1] J. S. Krajcik
Collection
2023 ASEE Midwest Section Conference
Authors
Yimesker Yihun; Lena Lamei
foster active learning in cancer education," Journal of Cancer Education, vol. 21, no. 3, pp. 125-128, 2006.[4] P. Haidet, K. Kubitz, and W. T. McCormack, "Analysis of the team-based learning literature: TBL comes of age," Journal on excellence in college teaching, vol. 25, no. 3-4, p. 303, 2014.[5] K. Anwar, A. A. Shaikh, N. R. Dash, and S. Khurshid, "Comparing the efficacy of team based learning strategies in a problem based learning curriculum," Apmis, vol. 120, no. 9, pp. 718-723, 2012.[6] N. J. Borges, K. Kirkham, A. S. Deardorff, and J. A. Moore, "Development of emotional intelligence in a team-based learning internal medicine clerkship," Medical teacher, vol. 34, no. 10, pp. 802-806
Collection
2021 Northeast Section Meeting
Authors
Salem Othman; Marisha Rawlins; Afsaneh Ghanavati
that RT-Eval is simpleand intuitive to use and could help students easily communicate with their instructor.7 AcknowledgementWe thank two co-operative work semester (co-op) students from the School of Computing andData Science, Xi Xi Lin and Alex Silkin, who built the prototype system under the supervision ofSalem Othman. We also thank Dr. Tes Zakrzewski, Senior Director, and Joshua Luckens,Instructional Designer, of the Teaching and Learning Collaborative (TLC) at Wentworth Instituteof Technology. Dr. Zakrzewski and Mr. Luckens continue to advise the authors on courseevaluation and assessment throughout this project.8 References[1] J. Watkins and E. Mazur, “Just-in-Time Teaching and peer instruction,” in S. P. Simkins & M. H. Maier
Collection
2025 PNW Section Annual Meeting
Authors
Yuliana Flores; Jennifer A. Turns
asked applicants to explaintheir interest. After reviewing submissions, I selected students based on graduation needs,relevant coursework, and interest. After reading S's application, I met with her to offer a co-lead position. I envisioned herleading DRG sessions and providing feedback on my curriculum development. The fourundergraduate students would support data analysis scaffolding and create session slides andhandouts. However, this plan evolved as the quarter and project began, particularly since I hadn'tfully developed the 12-week curriculum during winter break. S and I met one-on-one tobrainstorm weekly focuses and activities. The undergraduates created handouts, and eventuallyeach student (including S) became a "grader" for a
Conference Session
Manufacturing Division (MFG) Technical Session 2
Collection
2025 ASEE Annual Conference & Exposition
Authors
Md B. Sarder, Bowling Green State University
Tagged Topics
Diversity
Tagged Divisions
Manufacturing Division (MFG)
, build plate or bed temperature, scanning speed, and layer thicknessrespectively.Figure. 2. (a) Butterfly wing structure [22], (b) computer model of butterfly wing inspiredTPMS lattice structure, (c) Fused filament fabrication (FFF) tool, and (f)-(h) PLA-TPU TPMScomposite structure.Table. 1. Print Parameters used in this study for PLA and TPU polymers: Filament Te (oC) Tb (oC) v (mm/s) h (mm) Infill (%) PLA 210 60 40 0.3 100 TPU 230 60 20 0.3 1002.2 Processing and Characterization: After printing the TPMS samples, heat treatment was conducted at two differenttemperatures as
Conference Session
Design in Engineering Education Division (DEED) - Innovative Assessment Strategies in Design
Collection
2025 ASEE Annual Conference & Exposition
Authors
Emily Houston Monroe, Dartmouth College; Jentry Elizabeth Campbell, Dartmouth College
Tagged Divisions
Design in Engineering Education Division (DEED)
addresses all seven ABET learning outcomes through‬ ‭lectures, workshops, team work, and individual assignments and culminates in a group-based‬ ‭final presentation and written paper. In addition to the project experiences, students complete‬ ‭several professional development activities intended to increase their understanding of various‬ ‭topics integral to the engineering profession, including economics, ethics, safety, social context,‬ ‭and technical communication.‬‭ s part of their professional development, students were asked to develop their own performance‬A‭assessments. At the beginning of the course, students were asked to design a series of activities‬ ‭they could complete in one month’s time in the categories of
Conference Session
ECCNE Technical Session 1 - Nuclear Engineering
Collection
2025 ASEE Annual Conference & Exposition
Authors
Katie Snyder, University of Michigan; Aditi Verma, University of Michigan; Aisha Jagne, University of Michigan; Andy Pham, University of Michigan
Tagged Topics
Diversity
Tagged Divisions
Conservation and Nuclear Engineering Division (ECCNE), Energy Conversion
nuclear energy to solve the impending energy crisis on its‬‭own, but excluding nuclear energy from our plans for a carbon-neutral energy future would be a‬‭serious misstep. The path to decarbonization will include a variety of energy feedstocks and‬‭systems, likely tailored to local geographies, cultures, and resources. Bringing more people into‬‭the conversation, particularly young people considering their future careers, is a vital task that‬‭requires more effective models like the summer academy described above.‬‭References‬‭[1]‬‭Mohamed, M., Zakuan, N. D., Tengku Hassan, T. N. A., Lock, S. S. M., & Mohd Shariff, A.‬‭“Global Development and Readiness of Nuclear Fusion Technology as the Alternative Source for‬‭Clean Energy Supply
Conference Session
Engineering Technology Division (ETD) Technical Session 8
Collection
2025 ASEE Annual Conference & Exposition
Authors
Daniel G Rey, Texas A&M University; Malini Natarajarathinam, Texas A&M University; Bharani Nagarathnam, Texas A&M University
Tagged Divisions
Engineering Technology Division (ETD)
the case of project appropriateness or scope creep, challenges were largelyattributed to a lack of mutual understanding between the industry sponsor and the capstoneteam. POPs were tasked with bridging this gap by introducing a more formalized projectcharter format as part of the project identification process. It is comprised of four distinctparts: 1. Background of problem/opportunity that introduces the company and area of interest 2. Destabilizing condition that describes the adverse effects of the problem or the nature of the opportunity 3. Consequences of not solving the problem or acting upon the opportunity 4. The desired outcome(s), without necessarily identifying the solution deliverables By discussing and
Conference Session
ECE-Outreach and Engagement Strategies for Inspiring Future Engineers
Collection
2025 ASEE Annual Conference & Exposition
Authors
Robert P. Leland, Oral Roberts University
Tagged Divisions
Electrical and Computer Engineering Division (ECE)
successful in their careers. Mastery learning is a promising approach for enablingmore students to succeed without lowering standards.References[1] B. S. Bloom, “Learning for Mastery. Instruction and Curriculum.” Regional Education Laboratory for the Carolinas and Virginia, Topical Papers and Reprints, Number 1,” Evaluation Comment Vol. 1 No. 2, May, 1968.[2] J. B. Carroll, “A Model of School Learning,” Teachers College Record, 64(8) , p. 723-733, 1963. https://doi.org/10.1177/0161468163064008[3] A. Essa, S. Mojarad, S. “Does Time Matter in Learning? A Computer Simulation of Carroll’s Model of Learning” in R.A. Sottilare, J. Schwarz, Eds. Adaptive Instructional Systems. HCII 2020. Lecture Notes in Computer Science, vol 12214
Conference Session
Manufacturing Division (MFG) Technical Session 7
Collection
2025 ASEE Annual Conference & Exposition
Authors
Arif Sirinterlikci Ph.D., CMfgE, CPEM, Robert Morris University
Tagged Topics
Diversity
Tagged Divisions
Manufacturing Division (MFG)
insert was for the ejector side of a moldfor a BOY injection molding machine (with a clamping force of 220 KN). In addition, the Table 3. Use cases employed in the workshop Use case - explanation VisualDirect rapid tooling – Case #1:Mold Design and Stereolithography(SLA) Printing of NanoTool Insertswith• Ejector/cover halves• Sprue hole• Runner• Gate• Cavity for the partand a sample of polypropylene (PP)molded parts produced by the insert[8]Direct rapid tooling – Case #2:ExOne is one of the major companieswith Binder Jetting technologyspecifically employed in sand moldprinting.• The new S-Max Flex system, incorporates articulated robotics into the Binder-Jetting process
Conference Session
Manufacturing Division (MFG) Technical Session 3
Collection
2025 ASEE Annual Conference & Exposition
Authors
Sheng-Jen Hsieh, Texas A&M University
Tagged Divisions
Manufacturing Division (MFG)
. The lesson will be evaluated using a pre-test, a post-test, and a survey of 25 students. Student feedback indicates that the use of GeoGebra software,the angle addition simulator, and hands-on tools like protractors significantly enhanced theirengagement and comprehension of geometric concepts, making learning more interactive andeffective. Overall, this study aims to demonstrate that the designed tools positively impactstudents' learning in angle measurement.AcknowledgementThis material is based upon work supported by the Research Experiences for Teachers Programunder National Science Foundation award no. 2206953. Any opinions, findings, and conclusionsor recommendations expressed in this material are those of the author(s) and do not
Conference Session
New Engineering Educators (NEE) Technical Session 1 - Maximizing Student Interaction and Engagement
Collection
2025 ASEE Annual Conference & Exposition
Authors
Garrett Weidig, Michigan State University; Geoffrey Recktenwald, Michigan State University
Tagged Divisions
New Engineering Educators Division (NEE)
a lasting impacton the habits of future engineers.References[1] W. A. Jadayil, “The Importance of Class Attendance and Cumulative GPA for Academic Success in Industrial Engineering Classes,” 2012. [Online]. Available: https://www.researchgate.net/publication/275494281[2] A. A. Permana, A. Kusnadi, A. N. Marpaung, E. Dela Marcela, N. Yuasan, and S. Fauziyah, “Effect of Zoom fatigue on health and learning loss in students during the COVID-19 pandemic,” Jurnal Inovasi Teknologi Pendidikan, vol. 10, no. 1, pp. 22–32, Mar. 2023, doi: 10.21831/jitp.v10i1.52930.[3] L. K. Fryer, P. Ginns, M. Howarth, C. Anderson, and S. Ozono, “Individual differences and course attendance: why do students skip class
Conference Session
Engineering Technology Division (ETD) Technical Session 5
Collection
2025 ASEE Annual Conference & Exposition
Authors
Wei Dai Vian, Purdue University at West Lafayette (COE); April Cheung, Purdue University at West Lafayette (PPI)
Tagged Divisions
Engineering Technology Division (ETD)
), Question 2 Table 4. Personal Comments on Integrating SME in Courses in Survey 2 Second Survey Comments #Smart manufacturing elements have been embedded into my course. 7Manufacturing means different approach to each faculty, so having a common 2theme would provide helpful alignment.I have planned to incorporating SME into my course(s) in future semesters. 3Incorporating SME into our courses should be a requirement. 3Unclear if SME should be added to all courses. Evaluation of each course first. 3I'm interested in seeing examples and learning about the effectiveness of how 2others have incorporated
Collection
2025 ASEE -GSW Annual Conference
Authors
Sandipon Chowdhury, West Texas A&M University; Swastika Bithi, West Texas A&M University
Chowdhury1, Nathan Howell1 , Masoumeh Ozmaeian1, Mark Garrison2, Li Chou1, Theresa Rogers3, and Swastika S. Bithi1 1 College of Engineering 2 Terry B. Rogers College of Education and Social Sciences West Texas A&M University 3 Canyon High School AbstractThis study takes a hands-on approach to inspire middle and high school students in the TexasPanhandle about the fascinating world of water science and environmental engineering. By delvinginto soil
Collection
2025 ASEE -GSW Annual Conference
Authors
Kenneth R. Leitch P.E., West Texas A&M University; Colton Atkins, West Texas A&M University; Audrey Meador, West Texas A&M University
Tagged Topics
Diversity
., Semmens, K., Thompson, R.E. "Commercial aquaponics production and profitability: Findings from an international survey." Aquaculture, 2015, 435, ISSN 0044-8486. https://doi.org/10.1016/j.aquaculture.2014.09.023.4. Somerville, C., Cohen, M., Pantanella, E., Stankus, A., Lovatelli, A. "Small-scale aquaponic food production: Integrated fish and plant farming." FAO Fisheries and Aquaculture Technical Paper, 2014.5. Lennard, W. A.; Goddek, S. Chapter 5 - aquaponcs: The baics. In Aquaponics food production systems, Goddek, S., Joyce, A., Kotzen, B., Burnell, G. M. Eds.; Springer, 2019.6. Kloas, W., Groß, R., Baganz, D., Graupner, J., Monsees, H., Schmidt, U., Staaks, G., Suhl, J., Tschirner, M., Wittstock, B., Wuertz, S., Zikova, A
Collection
2025 ASEE -GSW Annual Conference
Authors
Md Nazmus Sakib, University of North Texas; Maurizio Manzo, University of North Texas; Rattaya Chowdhury Yalamanchili, University of North Texas
, J. Students’ Perception of the Use of Artificial Intelligence (AI) in Pharmacy School. Currents in Pharmacy Teaching and Learning 2024, 16 (12), 102181. https://doi.org/10.1016/j.cptl.2024.102181.(3) Lin, H.; Chen, Q. Artificial Intelligence (AI) -Integrated Educational Applications and College Students’ Creativity and Academic Emotions: Students and Teachers’ Perceptions and Attitudes. BMC Psychol 2024, 12 (1), 487. https://doi.org/10.1186/s40359-024-01979-0.(4) Yufei, L.; Saleh, S.; Jiahui, H.; Abdullah, S. M. S. Review of the Application of Artificial Intelligence in Education. IJICC 2020, 548–562. https://doi.org/10.53333/IJICC2013/12850.(5) Grájeda, A.; Burgos, J.; Córdova, P.; Sanjinés, A. Assessing Student-Perceived
Collection
2025 ASEE -GSW Annual Conference
Authors
Paul J Componation, The University of Texas at Arlington
directly by corporate training and theengineering leadership teams. The original hybrid delivery format using 8-week course deliveryschedules was also found to only be limited in effectiveness. A fully online asynchronous 14-weekcourse delivery schedule was found to be more effective, although this was not what was reportedduring the initial stakeholder surveys. Finally, the hiring of a single, well-qualified recruiter/advisorhas been valuable. Working professionals prefer to have a single point of contact on the programrather than being required to contact numerous university offices for questions on applying,registering, and financing their programs.Bibliography 1. Kamat, V., & Sardessai, S. (2012). Agile Practices in Higher Education: A
Collection
2025 Northeast Section Conference
Authors
Elizabeth O'Connell; Sarath Chandra Kumar Jagupilla; Muhammad Hajj
] Bound, J., Lovenheim, M. F., & Turner, S. (2012). Increasing time toopportunities, thereby improving positive scholarship baccalaureate degree in the United States. Education, 7(4), 375-424.outcomes. Furthermore, by having external constituents send [3] Beeson, M. J., & Wessel, R. D. (2002). The Impact of Working onopportunities through one designated individual, a department Campus on the Academic Persistence of Freshmen. Journal of Studentcould ensure that all eligible students are notified of available Financial Aid, 32(2), 37-45.scholarships, thus helping to increase equitable access to [4] Riggert, S. C., Boyle, M., Petrosko, J. M., Ash, D., & Rude-Parkins, C
Collection
2025 Northeast Section Conference
Authors
Jorge Paricio Garcia; Paul Spirito
over a gray outline, and a final rendered concept. REFERENCES [1] Ulrich, K. T., Eppinger, S. D., & Yang, M. C. (2019). Product design and development. Ingram. [2] Ask, T. (2016). Engineering for industrial designers and inventors. https://openlibrary.org/books/OL27205588M/Engineering_for_industria
Collection
2025 Northeast Section Conference
Authors
Susrutha Babu Sukhavasi; SUPARSHYA BABU SUKHAVASI
Institutional Consensus”, Teaching & Learning Inquiry, Vol. 9, No. 2,disproportionately biased against minority students, resulting pp. 1-4, 2021.in unfair predictions about their academic success. [8] Johnson, E. S., Anderson, S., & Lee, D. “Adaptive learning in higher education”, Journal of Educational Technology Systems, Vol. 45, No.4,Case Study: In a study involving AI-based grading for essays, pp. 537-551, 2017.it was found that the algorithm disproportionately favored [9] DreamBox Learning. “The impact of adaptive learning on K
Collection
2025 Northeast Section Conference
Authors
Paul Cotae; Nian Zhang; Onyinye Obioha-Val
, 2022. doi: 10.3390/app12083943.[9] K. Pang, Y. Liu, S. Zhou, Y. Liao, Z. Yin, L. Zhao, and H. Chen, “Proto- DS: A self-supervised learning-based nondestructive testing approach for food adultration with imbalanced hyperspectral data, “Foods, vol. 13, no.22, p.3598, 2024. Doi:10.3390/foods13223598.[10] S. Galli, ‘xploring Oversampling Techniques for Imbalanced Datasets, “Training Data’s Blog, 2023. Available:https//www.blog.tranindata.com/sampling-techniques-for- imbalanced-data/[11] M. Mujahid et al., “Data oversampling and imbalanced datasets: an investigation of performance for machine learning and feature engineering, “Journal of Big Data, vol.11, no.1, p.87, 2024, doi
Collection
2025 ASEE North Central Section (NCS) Annual Conference
Authors
Benjamin Lubina, Gannon University; Ramakrishnan Sundaram, Gannon University
Tagged Topics
Diversity
versatility and performance in Internet of Things (IoT)applications. The ESP32 offers significant computational power while maintaining an efficientenergy footprint. Its onboard Wi-Fi and Bluetooth modules provide seamless wirelesscommunication, making it an ideal choice for IoT applications. The ESP32’s Wi-Fi capabilitiesare a cornerstone of its functionality, supporting both 2.4 GHz frequency bands and a variety ofstandard protocols, including IEEE 802.11 b/g/n. This allows for high data transfer rates,efficient packet handling, and reliable connections, even in environments with significantinterference. Additionally, the ESP32 is equipped with advanced features such as Wi-Fi Directand mesh networking, enabling scalable deployments in complex IoT
Collection
2025 ASEE North Central Section (NCS) Annual Conference
Authors
Robert Michael, Gannon University; David Gee, Gannon University
Tagged Topics
Diversity
Protection”, Manufacturing PA Innovation Program Expo, Harrisburg, PA, April 4, 2024. Presented poster and attended conference. 4. Michael, R.J., Piovesan, D., Gee, D., “Undergraduate Engineering Design Projects that Involve Inter- Departmental Collaboration,” Proc. ASEE-NCS 2020 Conference, West Virginia University, Morgantown, WV, Mar. 27 – 28, 2020. 5. Michael, R.J. and Piovesan, D., “Use of Engineering Software Programs for Self-Directed Learning,” Acad. Process Educators 2018 Conference, Gannon University, Erie, PA, June 2018. 6. Pollino, M., Sabzehzar, S., Michael, R., “Mechanical Behavior of Base Isolated Steel Storage Racks Designed for Sliding-Rocking Response,” Eleventh U.S
Collection
2025 ASEE North Central Section (NCS) Annual Conference
Authors
Edward Jesse Sizemore III; Mohammed Ferdjallah, Marshall University; Asad Salem
. Ferdjallah M, Bostick FX, Barr RE, “Potential and Current Density Distributions of the Cranial Electrotherapy Stimulation,” IEEE Transactions in Biomedical Engineering, 43(9): 939-943, 1996.9. Ferdjallah M, Wertsch JJ, Ahad MA, Phongsamart G, McGill KC, "Nerve Conduction Topography In Geriatric Hand Assessment", Journal of Rehabilitation Research and Development, (In Press) 2005.10. Ferdjallah M, Wertsch JJ, Harris GF, “Effects of Surface Electrode Size on Computer Simulated Surface Motor Unit Potentials,” Electromyography and Clinical Neurophysiology, 39: 259-265, 1999.11. Gang Yao, Jiao S, Wang Lihong V, “Frequency-swept ultrasound-modulated optical tomography in biological tissue by use of parallel
Conference Session
Multidisciplinary Engineering Division (MULTI) Technical Session 10
Collection
2024 ASEE Annual Conference & Exposition
Authors
Susan J Ely, University of Southern Indiana; Milad Rezvani Rad, University of Southern Indiana
Tagged Divisions
Multidisciplinary Engineering Division (MULTI)
, counting for a minimum of 35% of total course evaluation in a threecredit-hour course, or its equivalent; (3) Instruction should include brief lessons on writing in theparticular discipline; (4) Each course should have at least one sustained or long-term writingproject, e.g., a research paper, an argument, a detailed lab results report; (5) The sustained projectshould synthesize some of the major objectives of the course; (6) At least one assignment mustinvolve instructor feedback on student drafts and opportunities for revision; and (7) Eachcollege/department should determine broad parameters for what constitutes acceptable writing inthe discipline(s).” [5].As a course directed towards engineers, most writing assignments are specific to
Collection
2010 ASEE Zone 1 Conference
Authors
Ronald C. Lasky
constraintsof the system. Hence, I needed to know to what tolerances I needed to hold L, F, O l , O s and themode filed diameter of the laser and fiber. As the type of mechanical tolerances required wouldbe in the single micrometer range, there was a question as to whether or not this optoelectronicsystem could be developed at an acceptable cost.So I visited the optical research lab with great hopes. After introductions, I asked the researcher,who had developed the sophisticated software, questions relating to how the coupling of the lightis affected by varying L, F, O l , O s and the mode filed diameter of the laser and fiber. He had noidea. He told me if I gave him specific values for these parameters, he could tell me what thepercent of light
Collection
2010 ASEE Zone 1 Conference
Authors
Chitra N. Javdekar
Designing Freshman Engineering Experiences Author name(s) and Affiliation(s): Chitra N. Javdekar, Ph.D., MassBay Community College, MA Session: First Year Experience AbstractFreshman engineering experiences are critical from the perspective of overall development of studentsand student retention. These experiences can be particularly challenging to design owing to thedifferences in student backgrounds, and in levels of prior knowledge/preparation in fundamentalscientific concepts. This paper presents an approach for redesigning a freshman engineering designcourse to introduce students to the fundamentals of the engineering design
Collection
2014 ASEE Zone 1 Conference
Authors
Hui Zhang; Joseph Chen; Kai Zhang
[21] Kai Zhang, Emmanuel G. Collins Jr., Adrian Barbu, ‘‘An Efficient Stochastic Clustering Auction for Heterogeneous Robotic Collaborativewas proposed to optimize the localization result. Testing Teams,’’ Journal of Intelligent & Robotic Systems, Volume 72, Issue 3results indicate the proposed system is a feasible method to (2013) , Page 541-558.locate mobile robots with low average error. Future research [22] S. Thrun, W. Burgard and D. Fox, Probabilistic Robotics, Cambridge, MA: MIT