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This article considers student analogical reasoning associated with learning practice in creating bio-inspired robots. The study was in the framework of an outreach course for middle school students. Fifty eighth and ninth graders performed inquiries into behavior and locomotion of snakes and designed robotic models using the BIOLOID robot construction kit. We analyzed the interdomain analogies between biological and robotic systems elaborated by the students and evaluated the contribution of the analogies to the integrated learning of biology and robotics. The analogies expressed by the students at different stages of the course were collected and categorized, and their use in knowledge construction was traced. The study indicated that students’ reasoning evolved with learning, towards an increased share of deeper analogies at the end of the course. We found that analogical reasoning helped students to construct knowledge and guided their inquiry and design activities. In the proposed framework, the students learn to inquire into biological systems, generate analogies, and use them for developing and improving robotic systems.
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David Hradil Tom&#x; Grygar Janka Hradilov Petr Bezdi
ka Veronika Gr&#x;nwaldov Igor Foga&#x; Costanza Miliani 《Journal of Cultural Heritage》2007,8(4):377-386
The work is focused on identification of lead tin yellow types I and II, Naples yellow, and also on discrimination of a less common, distinct yellow pigment, the ternary Pb-Sb-Sn oxide.The knowledge about all those Pb-based yellows was in fact forgotten after introduction of modern synthetic yellows in 19th century. As late as in the last decade of the 20th century, the existence of Pb-Sb-Sn yellow and its production have been rediscovered, and only then it has been identified in colour layer of artworks.Pb-Sb-Sn yellow has recently been identified in colour layer of 17th century Italian paintings by Sandalinas and Ruiz-Moreno [C. Sandalinas, S. Ruiz-Moreno, Lead tin-antimony yellow, historical manufacture, molecular characterization and identification in seventeenth-century Italian paintings, Stud. Conserv. 49 (2003) 41–52], and here we report the finding of this pigment in Mid-European painting of the 18th and 19th centuries. Lead tin yellows, lead antimony yellow (Naples yellow), and lead antimony tin yellow were synthesized in laboratory following historical recipes, their colour was analyzed, and their structure was confirmed to provide a basis for their routine identification in microsamples of artworks by X-ray microdiffraction. Unequivocal identification of Pb-based yellows could help in authentication of traditional European paintings, because their use was temporally and also geographically specific. Combination of elemental microanalysis (X-ray fluorescence electron microanalysis) and X-ray powder microdiffraction were found very efficient in the microanalysis of colour layers of artworks with Pb-based yellows and their unequivocal identification. 相似文献
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The problem of designing optimal process-specific rules for non-parametric tuning is undertaken in the paper. It is shown that producing non-parametric process-specific optimal tuning rules for PID controllers leads to the problem that can be characterized as optimization under uncertainty. This happens due to the fact that tuning rules, unlike tuning constants, are produced not for a particular process or plant model but for a set of models from a certain domain. The novelty of the proposed approach is that the problem of obtaining optimal tuning rules for a flow process is formulated and solved as a problem of optimization of an integral performance criterion parametrized through values that define the domain of available process models. The considered non-parametric tuning assumes the use of the modified relay feedback test (MRFT) recently proposed in the literature. It allows one to tune the PID controller satisfying the requirements to gain or phase margins that is achieved through coordinated selection of tuning rules and test parameters. This approach constitutes a holistic approach to tuning. In the present paper, optimal tuning rules coupled with MRFT, for flow loops, are proposed. Final results are presented in the form of tables containing coefficients of optimal tuning rules for the PI controller, obtained for a number of specified gain margins. The produced non-parametric tuning rules well agree with the practice of loop tuning. 相似文献
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The heterogeneous, distributed and voluminous nature of many government and corporate data sources impose severe constraints on meeting the diverse requirements of users who analyze the data. Additionally, communication bandwidth limitations, time constraints, and multiple data formats impose further restrictions on users of these distributed data sources. In this paper, we present an Agent-based Complex QUerying and Information Retrieval Engine (ACQUIRE) for large, heterogeneous, and distributed data sources. ACQUIRE acts as a softbot or interface agent by presenting users with a view of a single, unified, homogenous data source, against which users can pose high-level declarative queries. ACQUIRE translates each such user query into a set of sub-queries by employing a combination of planning and traditional database query optimization techniques. ACQUIRE then spawns a set of mobile agents corresponding to these sub-queries, which in turn retrieve the data from various distributed data sources by dynamically optimizing the retrieval strategy as it is carried out. These mobile agents carry with them data-processing code that can be executed at the remote site, thus reducing the size of data returned by the agent. When all mobile agents have returned, ACQUIRE filters and merges the retrieved data and presents the results to the user. While the system is still very much a work in progress, current validation experiments on simulated NASA Distributed Active Archive Centers (DAACs) have demonstrated that complex queries can be effectively decomposed and retrieved by this approach. 相似文献
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Igor M. Boiko 《Journal of The Franklin Institute》2012,349(3):1198-1212
The harmonic balance (HB) principle is a powerful and convenient tool for finding periodic solutions in nonlinear systems. In the present paper, this principle is extended to transient processes in systems with one single-valued odd-symmetric nonlinearity and linear plant not having zeros in the transfer function, and named the dynamic HB. Based on the dynamic HB, first the equations for the amplitude, frequency, and amplitude decay of an oscillatory process in the Lure system are derived. It is then applied to analysis of rocking block decaying motions. An example is provided. 相似文献
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Jing Shi Ahmed Al-Durra Rachid Errouissi Igor Boiko 《Journal of The Franklin Institute》2019,356(4):2031-2059
Artificial gas-lift (AGL) is one of the most widely used methods in oil production to maintain acceptable oil flow to the processing equipment and sales when the reservoir pressure is not high enough. In spite of its popularity, the AGL process is prone to casing-heading instability, which is revealed as significant flow oscillation. This is undesirable as it results in production losses and unstable behavior that has negative impact on the downstream equipment. Controller design for such a process is very challenging as it exhibits highly nonlinear dynamics. In this work, the predictive generalized minimum variance control (NPGMV) is employed to derive a robust controller based on the state estimation to stabilize AGL process when casing-heading phenomenon occurs. A closed-form optimal control law is obtained based on the Taylor series approximation. Further, a nonlinear state observer is produced and combined with the controller to ensure closed-loop control through variables that are most beneficial to the system performance, which are unmeasurable and can be obtained only via estimation. Through simulation studies, the effectiveness of the proposed controller is demonstrated. 相似文献
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A New Solution to the Paradoxes of Rational Acceptability 总被引：4，自引：0，他引：4