新时代一流本科教育的重建(笔会)

继\"双一流\"建设正式实施,建设一流本科教育成为我国高等教育发展的又一重要任务。一流本科教育的概念具有历史性、时代性、国别性和普遍性。\"以本为本\"的提出重在强调本科教育的最基础地位、本科教学的最基本职能、本科教育的最基本特质。建设一流的本科教育首先需要有先进的教育理念,明确其基本定位、指导思想、主要内涵与实施路径。提高本科教育质量的关键在于结构化育人模式,而通过学生课程学习经历调查可以评估本科教与学的质量。在建设一流本科教育中,还要重视学业考核制度建设,推进教育评价改革,构建良好的师生关系。对于一流研究型大学,要凸显一流本科的特色,处理好本科教育与学科发展的关系。国家社科基金“十三五”规划2017年度教育学重大招标课题“‘双一流’建设背景下高校学科调整与建设研究”(项目编号:VIA170003)的阶段性研究成果;;教育部人文社科重点研究基地重大项目“中国特色的大学内部治理结构与质量保障机制建设研究”(项目编号:18JJD880005)的阶段性研究成果;;国家社科基金(管理学)一般项目“管办评分离背景下大学社会评价体系和机制研究”(项目编号:16BGL172)的阶段性研究成果;;中国高教学会“中国高等教育改革发展重大理论实践问题研究”之“一流大学建设与一流本科教育的研究”(项目编号:2017ZD02)的阶段性研究成果

A modular crawler-driven robot: Mechanical design and preliminary experiments

This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as the transmission device and provides two outputs in different forms with only one actuator. When the crawler moves in a rough environment, collision between mechanism and environment inevitably occurs. This under-actuated crawler can absorb the impact energy that should be transmitted to the actuator. A modular concept for the crawler is proposed for enlarging its use in robot systems and mechanical design of a modular crawler is conducted. Using this crawler module, a four-crawler-driven robot is realized by easily assembling. Experiments are conducted to verify the proposed concept and mechanical design. A single crawler module can well perform the proposed three locomotion modes. The four-crawler-driven robot has good adaptability to the environment which can get over obstacles both passively and actively

Ground property tester for snake shape robot

本实用新型涉及机器人研究和工程领域,具体是一种蛇形机器人地面特性检测装置。它具安装蛇头模块内,包括壳体、压力传感器、压杆、触头,其中压力传感器安装在壳体内,压杆活动安装在壳体内部;触头安在压杆的底部;压力传感器的输出信号与地面特性检测电路电连接。本实用新型作为一个独立的机构,采用压力传感器直接测量地面的正压力和侧向摩擦力,可以定量地给出地面特性,测量参数多。检测装置调试简单、结构简单、集成度高、易于加工制造。另外,外壳的设计使检测装置与蛇形机器人安装方便

Ground characteristics detecting device used for snake shaped robot

本发明涉及机器人研究和工程领域,具体是一种用于蛇形机器人的地面特性检测装置。它具安装蛇头模块内,包括壳体、压力传感器、压杆、触头,其中压力传感器安装在壳体内,压杆活动安装在壳体内部;触头安在压杆的底部;压力传感器的输出信号与地面特性检测电路电连接。本发明作为一个独立的机构,采用压力传感器直接测量地面的正压力和侧向摩擦力,可以定量地给出地面特性,测量参数多。检测装置调试简单、结构简单、集成度高、易于加工制造。另外,外壳的设计使检测装置与蛇形机器人安装方便

Control of a 3-dimensional snake-like robot for analysis of sinus-lifting motion

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. The aim of this study is to elucidate a 3-dimensional motion of the snake, sinus-lifting, motion, which is, a phenomenon observed during rapid motion of the snake. The sinus-lifting creeping motion is an adaptive function peculiar to regular creeping motion, designed to prevent slippage in the normal direction of the body and to allow application of the greatest possible motive force. In this paper, we first discuss the controllability of the snake robot for analysis of sinus-lifting creeping mode. We utilized a 3-dimensional snake robot model to show the controllability of the robot through the computer simulation

Neural oscillator network-based controller for meandering locomotion of snake-like robots

In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot, we present realization of meandering motion and preliminary policies about parameter settings of the NON. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture

Kinematic analysis on a mobile robot composed of three wheeled units

A mobile robot with three links on which the passive wheels are fixed is presented in this paper. This robot can move with two formation decided by the different connection between links and body of robot. This link is a type of joint mechanism called modular universal unit(MUU). The MUU behaves Pitching, Yawing and Rolling D.O.F. A series of passive rollers around the cylindrical aluminum shell of MUU form an actuating wheel for mobile robot. The communication and replacement are feasible due to high integration of MUU. The mobile robot consisting of three MUUs can move by winding the links or by driving links to rotate. The kinematic analysis of this robot is given to show its performance on mobility. Finally, some locomotion simulations are given to show characteristic of robots

CPG-based control of serpentine locomotion of a snake-like robot?

In this paper, a biomimetic approach is proposed to solve the dificulty in control of a snake-like robot with a large number of degrees of freedom. This method is based on the Central Pattern Generator (CPG), which is a rhythmical motion generator existing in most animals. Compared with the previous CPG networks, a new network with feedback connection is presented, which can generate uniform outputs without any adjustment. Furthermore, the relation characteristics between the CPG parameters and the outputs are investigated. Both simulation and experiment of the snake-like robot have been taken for analysis of the CPG- based locomotion control

STUDY OF LATERAL LOCOMOTION OF SNAKE ROBOT

本文提出了一种新型蛇形机器人机构 ,建立了其空间运动学模型 ,实现了蛇形机器人的两种侧向运动 :侧向蜿蜒运动和侧向滚动 ,前者通过调节两个异相波的频率比 ,实现了任意方向的侧向运动 .后者通过控制运动波的幅值变化 ,实现了各种形式的纯侧向移动 ,当幅值足够大时 ,这种侧向滚动可以跨越障

Design and Motion Analysis of an In-pipe Robot with Adaptability to Pipe Diameters

提出并研制一种基于自适应移动机构的管内探查机器人。通过对机器人传动机构的设计,实现了在不增加驱动电动机数量的前提下,机器人具有适应不同管道直径的能力。机器人的传动机构能够在管道直径改变时,自动地改变行走部件的输出形式以克服障碍,完成越障任务。在没有应用链式多节构型的情况下,机器人配备一个驱动电动机就能够完成越障任务,改善了传统螺旋驱动式机器人越障能力不高的问题,同时也提高了对驱动电动机的使用效率。为了分析试验中发现的机器人保持架自转现象,对机器人进行运动分析,并由分析结果对相关部分进行改进。试验结果表明,该机器人能够在内径为190 mm和180 mm的管道中行进,并能够顺利通过两节管道间形成的同心台阶障碍,验证了自适应移动机构的行走能力