Documente Academic
Documente Profesional
Documente Cultură
mathematics
Abstract
A rapidly increasing number of modules in degree programmes now utilise virtual learning environments. A
main feature of virtual learning environments, to which their adoption by many educators is attributed, is
automated assessment. Automated assessment is particularly attractive where the number of students
taking a module is large. As mathematics is an essential pre-requisite for those studying engineering
courses and is compulsory in almost every engineering programme, classes tend to be large. However,
there is ongoing scrutiny of the various aspects of virtual learning environments, including automated
assessment. This paper is based on a case study that highlights aspects of the impact of automated
assessment by studying the performance of students taking an engineering mathematics module where
automated assessment is utilised in the form of quizzes.
Introduction
Networks have now become commonplace, computer technology more readily available and affordable to
the public and, as reported in many studies (Brohn, 1986; Gbomita, 1997; McDowell, 1995; Stephens et al.,
1998; Thelwall, 2000 and Zakrzewski and Bull, 1998), virtual learning environments (VLEs) are now
generally reliable. As a result of such advances in information technology, VLEs are fast becoming an
integral part of many taught courses.
VLEs provide a number of advantages compared to conventional face-to-face learning. They can utilise
repositories that can be accessed at all times, enabling the effective use of time and making catching up
easier. They also enable automatic assessment and instant feedback that makes self-assessment possible
and results in an improved learning experience (Brohn, 1986; Gbomita, 1997; McDowell, 1995; Stephens et
al., 1998; Thelwall, 2000 and Zakrzewski and Bull, 1998).
Automated assessment is one of the main benefits provided by utilising VLEs, and has made them
appealing to many educators. Automated assessment drastically reduces time spent on assessment by
instructors to as low as 30%. (Where no electronic assessment is used, about 75% of the time given to a
module is normally spent on assessment (Smaill, 2005)). Revision without using valuable lecture time is
made possible, lowering running costs and increasing efficiency (Griffin and Gudlaugsdottir, 2006). The use
of automated assessment is therefore expected to increase the quality of education, as instructors should
have more time to concentrate on improving and updating the delivery and content of courses (Juedes,
2003).
Given that that a decline in mathematics skills has been reported (Davis et al., 2005), automated
assessment can play a vital role in improving student learning in engineering mathematics. However, varied
opinions have been presented on the suitability and effectiveness of automated assessment, with some
studies presenting no improvement and negative feedback while others have reported positive results
(Smailes, 1998). It is in this light that this work evaluates automated assessment by studying the
performance of students taking an engineering mathematics course with VLE-based automatically assessed
quizzes. Quiz questions requiring single answers were utilised that fulfil the evaluation and procedural
knowledge of the revised Bloom’s taxonomy (Coleman et al., 1998). Single answer questions also eliminate
the effects of other pedagogical factors as much as possible in the evaluation of automated assessment.
The details of this study are presented in the next section, followed by the results of the study and analysis
and finally the conclusions reached by the study.
The study
This study is based on a group of first year students on a foundation degree programme in electrical and
mechanical engineering in 2006. This is a two year programme for students who do not qualify for the
conventional degree programme. At the end of the programme students who perform exceptionally well may
transfer to one of the conventional electrical and mechanical engineering degree programmes. Students
should have a minimum UCAS tariff of 140 points at GCE/A-level or equivalent and passes equivalent to
GCSE grade C or above in at least four subjects, including English and mathematics.
The study was carried out on an introductory mathematics module in the first semester of the first year which
covered the fundamentals of engineering mathematics. The topics covered included algebra, co-ordinate
geometry and statistics. The pedagogical goals were for students to acquire knowledge of and skills in the
listed topics and, as a result, to be able to identify and apply appropriate methods to solve different problems
or obtain information.
The group constituted of 52 students, of which 42 (81 %) were male and ten (19 %) were female. Face-to-
face lectures and tutorials were provided every week, each lasting two hours, throughout the duration of the
course. In addition, the students had a two hour supervised laboratory session every week in which they
utilised software tools to solve mathematical problems.
The E-learning component was employed using a commercial VLE package, WebCT (now Blackboard – see
http://www.blackboard.com). The web-based resource constituted learning resources that included tutorials,
lecture slides, notes, laboratory exercises, quizzes and self-test exercises. It also had auxiliary facilities such
as a module handbook, calendar, tutorials, bulletin board and email. Such a combination of face-to-face
lectures and the use of VLEs has been reported to be students’ preferred learning environment (Smailes,
1998 and Davis et al., 2005). The module was assessed by a series of online quizzes and computer-based
laboratory exercises (solving problems utilising software tools and then submitting reports electronically) and
a hand-written test at the end of the module. The mark distribution for the different assessments making up
the module, namely laboratory exercises, quizzes and the written test, were 10, 25 and 65% respectively.
Self-test exercises covering material similar to that in the next quiz were posted at least a week prior to each
quiz. These provided the opportunity for students to test themselves and practise at their own pace without
drawing on the instructor’s time. The quizzes are also ideal for students who find it difficult to participate in
face-to-face sessions and they also cater for different learning styles, for instance those with a kinesthetic
and reading inclination. Studies have shown that through the use of automated quizzes, performance
improves rapidly at each attempt of an exercise (Brown, 2004). There were five self-test exercises. The
material in the last exercise was not tested in a quiz. The questions in the quizzes and self-test exercises
had randomly generated variables. A scheme similar to that of Chen (2004) was utilised, where each time a
student attempted a quiz or exercise the variables were set to different values. In this instance the variables
were one or more numbers representing some quantity in a question such as angles, length, data values or
constants in equations. As a result each student had different variable values for the same question. This
made copying and assistance from fellow students more difficult. An example question is shown in Figure 1.
As the questions in the exercises simply required a single answer this enabled the effectiveness of the
automated system to be assessed, rather than other pedagogical factors. The feedback provided by the
system was the correct answer only -additional feedback and a discussion of the problems were provided in
the next class. In this way students were not tempted to enter wrong answers so as to obtain the worked
solutions of the problem, which in some cases can be detrimental (Chen, 2004). Indeed, students did exhibit
this behaviour, especially in the first self-test exercises. This behaviour greatly diminished in subsequent
exercises presumably because variables had different values each time the exercises were accessed.
Feedback was provided in weekly tutorial sessions.
Statistics on the students’ use and grades on both of the quizzes and self-test exercises were automatically
logged by the VLE (WebCT). The VLE also logged other activities such as the frequency of accessing
resources.
Written test
The written test was held at the end of the semester when all VLE based quizzes had been completed. It
consisted of 23 questions. Of these, nine were from topics covered in the quizzes and the first four self-test
exercises (algebra, trigonometry, vectors and geometry). Six questions were from statistics, the topic
covered by the last self-test exercise, which did not have an accompanying quiz. Eight questions were in
areas not covered in the quizzes. These questions were on formulae, functions and algebraic expressions.
However, it should be noted that all topics covered in the written test had been covered in lectures and
tackled in the weekly tutorial sessions. The duration of the written test was two hours and it was closed
book.
Results
The confidence intervals for means in the results presented here were determined using the analysis of
variance (ANOVA) statistical test. The results show the average mark and its respective confidence interval.
The ANOVA F figure and probability (p) of the null hypothesis are also given. The implied null hypothesis in
this instance is that the effect being tested for is not true. This corresponds to an ANOVA F figure of one.
The confidence interval level shown in all cases in this work is 95%. Figure 2 shows the distribution of
students as a function of the number of quizzes and self-test exercises they took.
Figure 3. Average test score and 95% confidence interval for mean as a function of quizzes taken
The performance as a function of the number of self-test exercises is shown in Figure 4. The probability of
this result assuming null hypothesis is 0.058 (F = 2.473), implying that the number of self-tests taken by a
student may be a factor as it is close to 0.05. This result is attributed to the observed behaviour of students
during self-test exercises, for instance entering wrong answers so as to obtain the worked solutions of
problems. This behaviour was mainly exhibited for the first self-test exercise. Students were discouraged
from this practice in subsequent exercises when they realised that the variables changed each time they
accessed a question. As a result some students only viewed questions without attempting to enter answers.
Similar behaviour is reported by Smail (2005) where students attempted to win-out by memorising answers.
Figure 4. Average test score and 95% confidence interval for mean as a function of self-test exercises taken
Figure 5 shows a comparison of the performance in the written test on the nine questions relating to topics
covered in the quizzes of students who completed the quizzes and those who did not. Although the
probability for the null hypothesis is 0.093 (F=1.49) it should be noted that students who completed the quiz
performed better on average in six of the nine questions.The results in the three questions that suggest
otherwise are attributed to a combination of the fact that the number of students who did not complete the
quizzes was much smaller than those that did (about 10 compared to about 40) and that two students in the
group who did not complete any quizzes scored 93 and 74% in the written test, much higher than the class
average of 50%. The lower limit of the 95% confidence interval is lower for students who did not complete
corresponding quizzes for two (questions 1 and 7) of the three questions. Furthermore, question 3 was on
fractions, a topic most students would already have been conversant in, hence rendering the influence of
completing the quizzes of little consequence.
Figure 5. Average test score per question on topic covered in quizzes and 95% confidence interval for
mean. C: completed respective quiz; N: did not take quiz
Figure 6. Average test score per question on topic covered in statistics self-test and 95% confidence interval
for mean. C: completed selftest; N: did not take self -test
Group B is not shown in the results due to the small amount of data in this category. Here the probability for
the null hypothesis for the mean is 0.063, however, the mean is observed to be highest for group D who had
the highest number of quizzes and self-test exercises. Figure 7b shows results for the same groups for
questions in the written test in the following categories: (A) topics covered in the quiz; (S) topics covered in
self-test exercises and (N) other topics. It is evident that the performance in topics covered in quizzes and
self-tests is significantly greater than that in topics not covered.
Figure 7a. Average test score per group for questions on topics covered in quizzes and 95% confidence
interval for mean
Figure 7b. Average test score per group for questions on topics covered in quizzes and 95% confidence
interval for mean. A: questions on topics covered in quiz; S: questions on topics covered in statistics self
test; N: questions on topics not covered in quiz or statistics self-test
The overall performance by all students in questions covered in quizzes, self-tests and other topics is shown
in Figure 8. The results clearly show better performance in questions that were previously covered in
quizzes and self-test exercises. There is also no overlap of the confidence intervals of questions covered in
either quizzes or the statistics self-test with questions not covered.
Figure 8. Overall average test score per group for questions on topics covered in quizzes and 95%
confidence interval for mean. A: questions on topics covered in quiz; S: questions on topics covered in
statistics self test; N: questions on topics not covered in quiz or statistics self-test
A survey of students on this course indicated that their feelings were generally amicable towards the VLE,
with 78.5% of the 46 respondents finding nothing negative about automated assessment. Similar attitudes to
automated assessment have been recorded with students preferring computer quizzes to conventional tests
(Reinhardt, 1995; Chirwa, 2006 and Mastascusa, 1997).
For the results in Figure 7a the class population is grouped into the categories listed in Table 1.
Conclusion
The results presented here suggest that students performed better in topics that were covered in quizzes
and self-test exercises. Taking into account that areas not covered in automated assessments were covered
in tutorials it can be concluded that automated assessment contributes to more effective learning. Here, too,
there are no indications that automated assessment significantly deters performance, which is in agreement
with some studies (Coleman et al., 1998).
Although savings in time when using automated assessment are negative for low numbers of students in
some studies (Smaill, 2005), the benefit of allowing students to test themselves and learn from their
mistakes privately (Chen, 2004) is, however, not diminished. They are therefore an effective means of
implementing assessment driven learning. However, they are inhibited by the limitations of the complexity of
solutions that can be implemented compared to those possible in the conventional handwritten form.
Another positive feature of VLE based quizzes is the ability to generate different variable values in the same
questions for different students, minimising cheating and resulting in more effective learning of the principles
required to solve problems.
In view of the above, a programme incorporating automated assessment is not likely to be detrimental. The
programme can further be improved by the implementation of automated assessment in appropriate
pedagogical contexts, for instance as a component of a larger problem. Once automated assessment has
been set up it is no longer labour intensive and becomes easier to implement than conventional ‘manual’
assessment exercises, especially for larger groups of students.
It should be noted that, although the sample size in this study is too small to be conclusive in its own right,
this work contributes to existing studies in this area and provides a clearer understanding of the effects of
automated testing. The results from the self-test exercises and the quizzes indicate that students apply
themselves more to assessed work (Race, 2001) and, as a result, the use of automated assessment is likely
to have a positive pedagogical effect.
References
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Higher Education, 11 (3), 231-239.
Brown, R.W. (2004) Undergraduate Summative Assessment Experiences. 34th ASEE/IEEE Frontiers in
Education Conference, 20-23 October 2004, Savannah, GA, USA.
Chen, P.M. (2004) An automated feedback system for computer organization projects. IEEE Transactions
on Education, 47 (2), 232-240.
Chirwa, L.C. (2006) Use of E-learning in Engineering Mathematics. International Conference on Innovation,
Good Practice and Research in Engineering Education, 24-26 July 2006, Liverpool, UK.
Coleman, J.N., Kinniment, D.J., Burns, F.P., Butler, T.J. and Koelmans, A.M. (1998) Effectiveness of
Computer-Aided Learning as a Direct Replacement for Lecturing in Degree-Level Electronics. IEEE
Transactions on Education, 41 (3), 177-184.
Davis, L.E., Harrison, M.C., Palipana, A.S, Ward, J. P. (2005) Assessment Driven Learning of Mathematics
for Engineering Students. International Journal of Electrical Engineering Education, 42 (1), 63-72.
Gbomita, V. (1997) The adoption of microcomputers for instruction: implication for emerging instructional
media implementation. British Journal of Educational Technology, 28 (2), 87-101.
Griffin, F. and Gudlaugsdottir, S. (2006) Using Online Randomised Quizzes to Boost Student Performance
in Mathematics. 7th international Conference on Information Technology Based Higher Education
Engineering, 10-13 July 2006, NSW.
Juedes, D.W. (2003) Experiences in Web-Based Grading. 33rd ASEE/IEEE Frontiers in Education
Conference, 5-8 November 2003, Boulder, CO, USA.
McDowell, L. (1995) Effective teaching and learning on foundation and access courses in engineering,
science and technology. European Journal of Engineering Education, 20 (4), 417-425.
Mastascusa, E.J. (1997) Incorporating “Computer-Graded” Components Into Electronic Lessons. Frontiers
in Education Conference, 5-8 November 1997, Boulder, CO, USA.
Moura Santos, A., Santos, P.A., Dion´ýsio, F.M., Duarte, P. (2002) On-line assessment in undergraduate
mathematics: An experiment using the system CAL for generating multiple choice questions. 2nd
International Conference on the Teaching of Mathematics, 1-6 July 2002, Crete, Greece. Available online
from http://www.math.uoc.gr/~ictm2/Proceedings/pap139.pdf [accessed 19 July 2008].
Race, P. (2001) The Lecturer’s Toolkit: A practical guide to learning, teaching and assessment, 2nd edition.
London: Kogan Page.
Smaill, R.C. (2005) The Implementation and Evaluation of OASIS: A Web-Based Learning and Assessment
Tool for Large Classes. IEEE Trans. Education, 48 (4), 658-663.
Stephens, D, Bull, J. and Wade, W. (1998) Computer-assisted assessment: suggested guidelines for an
institutional strategy. Assessment and Evaluation in Higher Education, 23 (3) 283-294.
Thelwall, M. (2000) Computer based assessment: a versatile educational tool. Computers and Education, 34
(1), 37-49.
Zakrzewski, S. and Bull, J. (1998) The mass implementation and evaluation of computer-based
assessments. Assessment and Evaluation in Higher Education, 23 (2), 141-152.
Lawrence Cloepass Chirwa BEng., MSc., PhD., PgDip., PgCHEP, Lecturer, School of Electrical and
Mechanical Engineering, University of Ulster, Jordanstown, Newtownabbey BT37 0QB. Tel: 028 90368213
Email: l.chirwa@ulster.ac.uk
Engineering:
Electrical Engineering
CRAFTY Curriculum Foundations Project
Clemson University, May 4–7, 2000
Ben Oni, Report Editor
Kenneth Roby and Susan Ganter, Workshop Organizers
Summary
This report focuses on establishing the foundation mathematics needed to support the study and
practice
of electrical engineering with emphasis on the undergraduate level.
To strengthen communication between communities of mathematicians and electrical engineers, we
have prepared this document to highlight the areas of mathematics that are most applicable to the
study
and practice of electrical engineering.
For outcome objectives, we propose that the mathematics taught to undergraduate electrical
engineering
students should help them in developing skills to:
1. Formulate problems in electrical engineering from real life situations,
2. Conceptualize the outcomes of electrical problems,
3. Simplify complex problems and estimate the reasonableness of solutions,
4. Visualize solutions graphically from inspection of their mathematical descriptions,
5. Visualize the form of a time function by inspection of the poles and zeros of its frequency
transform,
6. Be able to mathematically model physical reality,
7. Perform rudimentary analysis in electrical engineering,
8. Validate solutions to electrical engineering problems.
Narrative
Introduction and Background
Electrical engineering deals with the manipulation of electrons and photons to produce products that
benefit
humanity. The design of these products is based on scientific principles and theories that are best
described
mathematically. Mathematics is thus the universal language of electrical engineering science.
Undergraduate electrical engineering education must provide students with the conceptual skills to
for-
mulate, develop, solve, evaluate and validate physical systems. Our students must understand various
problem-solving techniques and know the appropriate techniques to apply to a wide assortment of
problems.
We believe that the mathematics required to enable students to achieve these skills should emphasize
con-
cepts and problem-solving skills more than emphasizing repetitive mechanics of solving routine
problems.
Students must learn the basic mechanics of mathematics, but care must be taken that these mechanics
do
not become the primary focus of any mathematics course.
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The Curriculum Foundations Project
More generally, it is vitally important that electrical engineering students recognize the importance
and
beauty of mathematics in their chosen profession. We feel strongly that students will appreciate the
power
of mathematics if each mathematics course clearly states its objectives at the outset. Students should
be
told what they are going to study, why they are going to study it, and how it fits into the engineering
pro-
fession. This motivation will need to be repeated throughout each course.
Many undergraduate mathematics curricula currently supporting electrical engineering programs
could
be modified to better meet the needs of these programs. What follows are common weaknesses (from
the
viewpoint of electrical engineering) seen in many mathematics curricula.
1. Too much time and emphasis are placed on topics that are not widely used while topics that have
wide-
spread use often receive cursory treatment. One example is the excessive time and attention spent on
various solution techniques for ordinary differential equations. Although understanding the structure
of
solutions for first- and second-order, constant coefficient differential equations is important for electri-
cal engineering problems, more useful and widely used are Laplace transforms and related techniques.
Yet these latter topics are often given cursory treatment in favor of more general structure theory.
2. There is often a disconnect between the knowledge that students gain in mathematics courses and
their
ability to apply such knowledge in engineering situations. Perhaps, the use of more engineering or real
life examples will reduce this disconnect. Based on current learning theory, efforts to focus on under-
lying principles (not necessarily abstract statements of mathematical concepts) that are applicable in
many different contexts are effective in helping students to transfer knowledge.
3. Current mathematics curricula for engineering are front-end loaded. Consequently, as a matter of
tim-
ing, many topics are presented too early and cannot be reinforced soon enough through engineering
applications before students forget the topics
4. Too often, mathematics is taught as a list of procedures or as theorem-proof exercises without
ground-
ing the mathematics in reality. While we do not expect mathematics instructors to be well versed in all
engineering applications, we would like examples of mathematical techniques explained in terms of
the
reality they represent. We strongly urge that team taught mathematics courses be considered. Teams
would consist of mathematics and electrical engineering professors. We feel that team-teaching could
better motivate and enthuse our students.
5. Failure to utilize appropriate technological tools while continuing to focus on mastery of symbolic
manip-
ulation often encourages memorization and rote algorithm practice at the expense of conceptual and
graphical comprehension. Introducing symbolic manipulation programs, e.g., MathCAD,
Mathematica,
Maple, would be valuable to subsequent electrical engineering courses whose instructors choose to
allow/encourage students to perform routine symbolic and numerical manipulations using such
programs.
6. The first two years of mathematics that support instruction in electrical engineering should present
stu-
dents with conceptual understanding of mathematical disciplines other than just single variable
calculus,
multivariable calculus and ordinary differential equations. Other mathematical subjects that are
important
for electrical engineering students include linear algebra, probability and stochastic processes,
statistics,
and discrete mathematics.
Electrical engineering is an exciting and creative profession. Those engineers possessing an
understanding
and facility of mathematics have an opportunity to be among the most creative of designers. Students
need
to know and to feel how important, how useful, and how meaningful mathematics is. Many courses
stress
the drudgery, not the beauty. This needs to be changed.
Electrical Engineering Subdisciplines
To describe our mathematics recommendations in sufficient detail, the undergraduate electrical
engineering
curriculum is broken down into the following broad areas:
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Engineering: Electrical Engineering
67
1. Electrical Circuits
2. Electromagnetics
3. Systems, including Controls, Linear and nonlinear Circuits, and Power
4. Signals
5. Design
6. Microprocessor/Computer Engineering
What follows are summaries of the proposed mathematics requirements for each subdiscipline.
1. Electrical Circuits
The electrical circuits course is the passageway to electrical engineering. Of critical interest are the
logical
thinking skills to analyze electric circuits. In this course, students are introduced to the application of
phys-
ical laws, e.g., Ohm’s, Faraday’s and Kirchoff’s, in electrical engineering. Students are also
introduced to
the electrical engineering foundation elements: resistor, inductor and capacitor, and their response
(voltage,
current and power profiles) to DC, steady state AC, and transient stimuli respectively. In most
institutions,
the circuits course is a two-part series with DC circuit analyses and transient response offered in the
first
semester and AC circuits and steady state response offered the second semester.
A. DC Circuits. Typical problems in this section involve the simplification of series, parallel and
mesh
circuits. Analyses of these circuits require setting up, manipulating, and obtaining solutions to alge-
braic equations. Subtle mathematical skills in the understanding of the circuit problems also include
direct and inverse proportionality to enable students to understand voltage and current divider rules
respectively.
In the circuit areas dealing with power, and power transfer, knowledge of integral calculus and
basic differentiation is required especially for maximum power transfer analysis.
B. AC Circuits. This part of circuit analysis deals with the response of different circuit configurations
and elements to steady state sinusoidal inputs. Different mathematical techniques are necessary to
simplify the circuits before gaining understanding of the response. The foundation mathematics
necessary for the analyses include:
Concept of functions, especially sinusoidal functions. Students need to understand and visualize
profiles of basic functions. Use of common real life examples is strongly suggested in teaching
this topic.
Application of trigonometric identities to sinusoidal analyses.
Manipulation and representation of sinusoidal functions in Euler, polar, and rectangular coordi-
nates.
Complex algebra.
C. Transients. This topic deals with response of discrete circuit elements, or combinations thereof, to
electrical stimuli. At the DC stage, the typical stimulus is the step. The mathematical background
required in the analysis includes exponential functions and introductory differential equations. In the
latter subject the primary focus should be on standard solutions to first and second order differen-
tial equations with constant coefficients rather than on more general techniques for solving differen-
tial equations. The preferred and more useful approach to solving differential equations in electrical
engineering is via the Laplace transform. Laplace transform methods reduce differential equation
problems to algebraic formats with which students feel more comfortable. This topic should be pre-
sented during the first year of undergraduate mathematics.
At the AC stage, the typical stimuli are sinusoidal, triangular and square functions. Usually, the
interest in this setting is steady state rather than transient. The Laplace transform still provides the
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68
The Curriculum Foundations Project
preferred method of analysis because, in addition to reducing differential equation problems to
algebraic equation problems, it also incorporates initial conditions in the solution.
2. Electromagnetics
Study of electromagnetic fields and waves is a crucial area in electrical engineering for which
understanding
of vector algebra and vector calculus is required. The basic laws of electromagnetics are summarized
in
Maxwell’s equations:
Faraday’s Law:
Ampere’s Law:
Gauss’ Law:
No Isolated Magnetic Charge:
These are partial differential equations that require deep conceptual understanding of vector fields and
operations related to vector fields: gradient, divergence, and curl. With the increasing power and avail-
ability of software, e.g., Mathematica, Maple, and Matlab, to perform the actual manipulations, it is
crucial
that students develop a conceptual understanding of vector fields and related operations.
It is less important to emphasize the actual manipulations. For example, it is less important that a
student
be given a scalar-valued function of several variables and be asked to compute the gradient. It is more
important that students be able to start with a contour plot (topographic map) of a scalar-valued
function
of several variables and draw the gradient function.
It is less important that students start with a vector field and be able to compute the divergence or curl.
It is more important that students be able to interpret verbally and graphically pictures of vector fields.
Students should be able to identify regions in which the magnitudes of the divergence or curl will be
large or small. To support conceptual understanding, graphical interpretation, and verbal description it
is
helpful to connect students of vector calculus with applications such as electromagnetic fields, fluid
mechanics and heat transfer.
The study of electromagnetics requires a conceptual understanding of partial differential equations and
their solutions, and the power and limitations of numerical solutions techniques. The study of specific
par-
tial differential equations that permit closed-form solutions is less important than the development of
this
conceptual picture.
Since most students in electrical engineering do not begin studying electromagnetic fields and waves
until
their junior year, it is important that the relevant topics of vector calculus and partial differential
equations
not be taught before the second semester of the sophomore year. Timing of the topics is important to
help stu-
dents connect their studies in mathematics with their study of electromagnetics. Individual schools
should
encourage conversations between faculty in electrical engineering and mathematics to prepare a
mathemat-
ics curriculum that is responsive to the specific requirements of the electrical engineering department.
3. Systems
Control Systems—Linear and NonLinear Circuits. One purpose of systems analysis is to represent
reality mathematically. At the undergraduate level, linear time-invariant systems are discussed,
studied and
designed. The systems may be continuous or discrete and may have one or more inputs and one or
more
outputs. The system is modeled as a “box,” a device that modifies the signals entering it resulting in
an
output according to the transfer function of the system:
0
B
∇⋅ =
KK
Dρ
∇⋅ =
KK
D
HJ
t
∂
∇× = +
∂
K
K
K
K
B
E
t
∂
∇× =
∂
K
KK
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Engineering: Electrical Engineering
69
Within electrical engineering, the systems problem has the following forms:
1. Find the transfer function of a SISO (single input-single output) system,
2. Find the transfer function of a MIMO (multi input-multi output) system,
3. Given the transfer function of a SISO system, what is the output of the system if the input to the
sys-
tem is a specified function?
4. Given the transfer function of a SISO system, how must the system be modified to satisfy given
spec-
ifications?
5. Given the state equation matrices for a MIMO system, what are the outputs of the system if the
input
to the system is a specified vector function?
6. Given the state equation matrices for a MIMO system, how must the system be modified to satisfy
given specifications?
In undergraduate courses the systems studied are linear and time-invariant. Continuous systems can be
modeled by ordinary differential equations although the order of these equations might be quite high.
Software packages such as MATLAB are used extensively in most systems courses.
For continuous systems the mathematical tools needed consist of:
1. Laplace transforms and techniques such as partial fraction expansions and residues
2. State variable techniques including eigenvalues/eigenvectors, interpretation of the matrices, etc.
3. Basic differential equations, focused on standard solutions to common problems.
For discrete systems difference equations are used instead of differential equations and the discrete-
time state model is used. The mathematical tools needed are:
1. Difference equations
2. The state transition matrices and solutions to discrete-time state models
3. Z-transforms
4. Discrete Fourier transforms
5. Fourier analysis.
For both continuous and discrete systems it is important to be able to use the poles and zeros of trans-
formed time functions to visualize the system’s time response to various inputs. For continuous
systems
the s-plane is important. Students should be able to plot the poles and zeros of the transfer function
and
from this plot know the form of the impulse response by inspection. They should understand how the
loca-
tions of the poles affect the output of the system. They should see how the locations of zeros affect the
var-
ious modes of the system. In other words, they need to see the time response in the s-plane and
understand
the physical realities encoded in the poles and zeros. For discrete systems the same holds true for the
z-
plane.
The mathematical courses supporting systems are primarily linear algebra and ordinary differential
equations. As stated above, ordinary differential equations courses tend to overemphasize the
development
of numerous solution methods for first- and second-order differential equations. In truth, systems deal
with
higher order differential equations, and for SISO continuous systems Laplace transforms are almost
always
the preferred method of solution. Discrete systems use the method of z-transforms. Both continuous
and
discrete MIMO systems use state variable techniques.
Input
Output
SYSTEM
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The Curriculum Foundations Project
Consequently, we would prefer courses that place more emphasis on Laplace transforms, z-
transforms,
and state variable techniques for solving ordinary differential and difference equations.
Linear algebra courses usually attempt to teach state variable techniques. We recommend that these
courses further develop the concepts taught in the “new” differential/difference equations course. State
transition matrices and their properties could be studied. Eigenvalues and eigenvectors could be
explained.
The relation between the roots of the characteristic equation and eigenvalues could be stated. Other
topics
might include:
1. Techniques for computing the matrix exponential and its integral,
2. Eigenvalue-eigenvector methods for computing matrix exponentials,
3. Decomposition of time-invariant state matrices,
4. Jordan forms,
5. Singular value decompositions and state space applications.
The elements of linear systems could be taught during the sophomore year.
Power Systems comprise the study of the transmission and distribution of electric power. The study
of
power systems depends upon a firm mathematical grounding in the use and manipulation of
trigonomet-
ric functions as well as algebraic manipulation of complex numbers. The use of phasor notation (an
appli-
cation of polar co-ordinates) plays a central role in power systems analysis. Students must also know
Euler’s formula and be facile in going from polar to rectangular co-ordinates and vice-versa.
Power systems analysis requires not only algebraic manipulation but also recognition of the changes a
signal undergoes and the form of the signal that results. While a solution having the form
volts,
may be correct, the form
volts
is more useful. The student can visualize a sinusoidal wave with an amplitude of 1.414 volts that lags
the
input signal by 45. Next, the student can visualize a sinusoid that decays exponentially. Thus, the
wave-
form with its phase angle can be easily visualized, whereas the sum of sinusoids gives little
information
about the phase angle. Power systems may be taught as early as the student’s 5th semester of
undergrad-
uate studies.
4. Signals/Communications
One of the most fundamental applications in electrical engineering is the transmission, modification
and
reception of signals. Communication systems is concerned with:
1. The transmission of signals through electric networks
2. The modulation and demodulation of signals
3. Sampling
4. Noise
5. Statistical methods of information transmission systems
Digital signal processing is an important area within electrical engineering. The digitization, modula-
tion, transmission, demodulation, and reception of signals is vital to modern communications. Image
pro-
cessing and pattern recognition techniques fall within the purview of digital signal processing.
Communications and digital signal processing are taught in depth usually during the last two or three
semesters of the student’s undergraduate studies. The understanding of mathematical concepts is
essential
2
3
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5
[1.414cos( 45 )]
t
t
ft
e
e
t
−
−
=
−
−°
2
3
()5
5
(cos sin )
t
t
ft
e
e
t
t
−
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=
−
+
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Engineering: Electrical Engineering
71
within the communications area. Of particular importance are:
1. Basic algebraic techniques
2. Basic trigonometric identities
3. Integration techniques, including partial fractions and integration by parts
4. Taylor Series Expansion (i.e., linear approximation, expansion out to two or three terms)
5. The Fourier Transform and its use
6. Fourier Series
7. The use of the Laplace Transform
8. The use of the Z Transform
9. Probability and Stochastic Processes
5. Design
Design and modeling are two generic tasks in which engineers participate after completing their
under-
graduate degrees. In addition to preparation in mathematics for the other disciplines within electrical
engi-
neering, there are additional areas in mathematics that are necessary to support learning and growth in
design and modeling. Such areas include statistics, empirical modeling, parameter estimation, system
identification, model validation and design of experiments. Demand from industry for expertise in
these
areas appears to be much stronger than demand within electrical engineering curricula. That may
explain
why these areas are not prerequisites for courses in electrical engineering. However, expertise in these
areas is increasingly important for electrical engineering graduates.
Topics from these areas that will be valuable for engineering graduates include the concept of a
random
variable, analysis of sets of data, concepts of sample means, sample variances and other sample
statistics
as random variables, and hypothesis testing. To illustrate why these topics are important here are some
examples of applications.
First Example, Simple Parameter Estimation: Construct a circuit containing a resistor (resistance =
R)
and a capacitor (capacitance = C). If the capacitor is initially charged and then discharged through the
cir-
cuit, voltages and currents decay exponentially. Data on a particular voltage can be taken at various
points
in time. Students then must estimate the time constant ( = RC) using the accumulated data. There are a
variety of techniques through which estimates of the time constant can be obtained. Students need to
be
familiar with the techniques as well as the supporting concepts and broader applications.
Second Example, Design of Experiments: Design a feedback controller that meets several
specifications
and minimizes percent overshoot. There are a number of parameters that may be adjusted. Students
should
be able to design a set of experiments that will help determine narrow intervals for the parameter
values
in order to optimize the design.
C
R
V
+
_
v(t)
i(t)
v(0)=Vo
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The Curriculum Foundations Project
Third Example, Model Validation: Develop an empirical model for a complex physical process.
Once
the model is produced, students should be able to develop a set of experiments to help them
understand
the validity of the model.
6. Computer Engineering/Microprocessors
Digital logic design and microprocessors require a mathematical background that is fundamentally
different
than the background necessary for the areas discussed above. Circuits, electromagnetics, signals, and
systems
require mathematics in which the variables can be any real number, i.e., continuous mathematics.
Digital
logic design and microprocessors require mathematics in which the variables can only assume values
in a
finite set, so-called discrete mathematics. Students need instruction that emphasizes the fundamental
dif-
ference between continuous and discrete mathematics.
More specifically, students need Boolean algebra and finite state systems. For Boolean algebra, they
need to understand truth tables for the basic operators: NOT, AND, OR, NAND, and NOR. They need
to
analyze combinational networks constructed from these basic operators and methods by which the net-
works may be simplified. Examples that help students relate combinational networks to actual
applications
will help build motivation and understanding.
For finite state systems, students need to understand the concepts of a finite state machine and a state
transition diagram. Understanding these concepts can be strengthened by examining Mealy and Moore
realizations and the equivalence between the two realizations. In addition, connections between finite
state
machines and regular expressions should be explored. Finally, students need to start with a description
of
a physical situation, synthesize a state transition diagram, and then design the combinational logic that
together with memory can realize the state transition diagram.
Understanding of these concepts from Boolean algebra and finite state machines will provide students
with the necessary mathematical background to study computer engineering and microprocessors.
Understanding and Content
What follows are brief summaries of our responses to the specific questions posed by the Curriculum
Foundations Organizing Committee.
What conceptual mathematical principles must students master in the first two years?
The mathematics required for electrical engineering students should emphasize concepts and problem
solving skills more than emphasizing repetitive mechanics of solving routine problems. Students must
learn the basic mechanics of mathematics, but care must be taken that these mechanics do not become
the
primary focus of any mathematics course.
What mathematical problem solving skills must students master in the first two years?
There is often a disconnect between the knowledge that students gain in mathematics courses and their
ability to apply such knowledge in engineering situations. Perhaps, the use of more engineering or real
life
examples will reduce this disconnect. Too often mathematics is taught as a list of procedures or as
theo-
rem-proof exercises without grounding the mathematics in reality. While we do not expect
mathematics
H
K
X
Y
+
-
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Engineering: Electrical Engineering
73
instructors to be well versed in all engineering applications, we would like examples of mathematical
techniques explained in terms of the reality they represent.
Students of electrical engineering need to be skillful at mathematically modeling physical reality.
They
need to be able to simplify complex problems, estimate the reasonableness of solutions, and visualize
solu-
tions graphically from inspection of the mathematical descriptions.
What broad mathematical topics must students master in the first two years?
The first two years of mathematics that support instruction in electrical engineering should present
stu-
dents with conceptual understanding of mathematical disciplines other than just single variable
calculus,
multivariable calculus and ordinary differential equations. Other mathematical subjects that are
important
for electrical engineering students include linear algebra, probability and stochastic processes,
statistics,
and discrete mathematics.
Listed below are the most important mathematical topics that we believe students in electrical engi-
neering should learn during the first two years of undergraduate studies. All of these topics were
discussed
earlier in this report. The Appendix provides another summary of topics, this one organized by the six
sub
disciplines of electrical engineering that were identified in the previous section.
Manipulation, solution, and analysis of real and complex algebraic equations
Basic differential and integral calculus
Standard solutions for basic differential equations, in particular first- and second-order differential
equations with constant coefficients
Laplace, Fourier and Z transforms
Vector calculus
Taylor series
State variables and finite state systems
Difference equations
Probability and stochastic processes
Statistics
Model validation
Parameter estimation—techniques and application
Boolean algebra—analysis and application
Technology
How does technology affect what mathematics should be learned in the first two years?
New engineering and mathematical software only reduce the dependency on routine, excessive and
repeti-
tive mathematical computations. Software should not be used to replace the necessity to teach students
how
to pose and formulate mathematical questions and how to evaluate answers obtained for these
questions.
What mathematical technology skills should students master in the first two years?
The use of mathematical software is necessary. In this regard, mathematics departments are strongly
encouraged to routinely use common math software tools and to promote students’ use of them.
Failure to
utilize appropriate technological tools while continuing to focus on mastery of symbolic manipulation
often encourages memorization and rote algorithm practice at the expense of conceptual and graphical
comprehension.
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The Curriculum Foundations Project
What different mathematical technology skills are required of different student populations?
We did not identify any difference in requirements.
Instructional Techniques
What are the effects of different instructional methods in mathematics on students in your
discipline?
We are not aware of differing effects.
What instructional methods best develop the mathematical comprehension needed for your
discipline?
Hands-on, interactive engagements and project-based learning methods have been observed to
promote
students’ learning.
Team teaching of mathematics courses should be considered. Teams could consist of faculty members
from both mathematics and electrical engineering. We believe that team-teaching could better
motivate
and enthuse electrical engineering students.
Each mathematics course should clearly state its objectives. Students should be told what they are
going
to study, why they are going to study it, and how it fits into the engineering profession.
What guidance does educational research provide concerning mathematical training in your
discipline?
We are not aware of the relevant educational research.
Instructional Interconnections
What impact does mathematics education reform have on instruction in your disciplines?
We are not aware of or familiar with current directions in mathematics education reform
How does education reform in your discipline affect mathematics instruction?
We did not have a response to this question.
How can dialogue on education issues between discipline and mathematics best be maintained?
One effective method for continuing this dialogue between mathematics and electrical engineering is
to
have more extensive contact between individuals in each discipline and the major professional
associations
in each discipline. Professional engineering associations which should be contacted include:
The American Society for Engineering Educators (ASEE)
The National Electrical Engineering Department Heads Association (NEEDHA)
Similar organizations for mechanical, civil and chemical engineering
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WORKSHOP PARTICIPANTS
Ben Oni, Associate Professor of Electrical Engineering and Acting Dean of Engineering, Tuskegee
University
Brian Butz, Professor of Electrical Engineering, Temple University
Jeffrey Froyd, Research Professor in Electrical Engineering, Dwight Look College of Engineering,
Texas
A&M University
Ronald Talley, Department Head and Professor of Electronic and Engineering Technolgy, Tri-County
Technical College, South Carolina
Mathematics Participants
William Barker, Professor of Mathematics, Bowdoin College
Robert Fennell, Professor of Mathematical Sciences, Clemson University
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The Curriculum Foundations Project
APPENDIX: Specific Issues on Understanding and Content
1. Electrical Circuits
Algebraic equations, manipulations and solutions
Differential and integral calculus
Concept of functions
Exponential functions
Sinusoidal functions, representation and manipulation in Euler, polar, rectangular coordinates
Application of trigonometric identities
Algebra of complex numbers
Introductory differential equations - focus on standard solutions to problems with basic inputs
including
step, sinusoids, triangular, square functions (teach by end of first year)
Laplace transform (emphasize this topic over differential equation techniques in the first year)
2. Electromagnetics
Vector calculus (Do not teach before the 2nd semester of the sophomore year)
Conceptualization
Operation
Gradients
Divergence
3. Systems
Continuous Systems
Laplace transforms and techniques
Integration by parts
Partial fraction methods
State variables
Eigenvalues and eigenvectors
Basic differential equations—focus on standard solutions to common problems
Discrete Systems
Difference equations
Systems of first order differential equations
Z-transforms
Discrete Fourier transform
Fourier analysis and techniques
Power Systems
Sinusoidal functions
Algebra of complex numbers
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4. Signals/Communications
Fourier analysis, transform and techniques
Integration by parts
Partial fraction methods
Probability and stochastic processes
Z-transform
Taylor series (linear approximation−interested only in the first two terms)
5. Design
Statistics
Data collection
Sampling
Analysis (distribution, graphical techniques)
Concepts of random variables
Model validation
Parameter estimation
System identification
6. Computer Engineering/Microprocessors
Boolean algebra
Finite state systems
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O. Martio
[3] Näveri, L., Understanding computations, Dimensio 3/2005, 49–52 (in Finnish).
[4] SOLMU, 2 special volumes on the PISA survey 1/2005–2006, 2/2005–2006: http://solmu.
math.helsinki.fi/2005/erik1/ (in Finnish) and http://solmu.math.helsinki.fi/2006/
erik2/ (in Finnish).
[5] Tuohi, R. et al., Fact or fiction—mathematical skills of new engineering students, Turun
ammattikorkeakoulun raportti 29, Turku 2004 (in Finnish).
Department of Mathematics and Statistics, P.O.Box 68 (Gustaf Hällströmink. 2b), FI 00014
University of Helsinki, Finland
E-mail: olli.martio@helsinki.fi