A practical development of engineering simulation-assisted educational AR environments

Engineering simulations have opened several gates for today’s chemical engineers. They are powerful tools to provide technical content as physics-based numerical solvers. Augmented reality (AR) and virtual reality (VR), on the other hand, are already underway to digitize environments in many fields. The combination of AR/VR environments and simulations in engineering education has been attracting widespread interest. Literature has demonstrated a massive amount of digital educational environments in several contexts as being complementary to conventional educational methods. Nevertheless, hosting technical content produced by engineering simulations with educational AR/VR is still challenging and requires expertise from multiple disciplines throughout the technical development. Present work provides a facile and agile methodology for low-cost hardware but content-wise rich AR software development. Inspired by the Covid-19 pandemic, a case study is developed to teach chemical-engineering concepts using a liquid-soap synthesis process. Accordingly, we assess and conclude the digital development process to guide inexperienced developers for the digitalization of teaching content. The present contribution serves as an example of the power of integrating AR/VR with traditional engineering simulations for educational purposes. The digital tool developed in this work is shared in the online version.     

适应不同重力环境的仿壁虎机器人运动仿真

针对不同重力环境下仿壁虎机器人的运动稳定性、运动高效协调性等问题,基于四足机器人的步态规划现状和仿壁虎机器人自身特定的机械结构,设计了仿壁虎机器人在g、0、-g 3种环境下的足端轨迹和运动步态。在ADAMS仿真软件中研究了机器人的运动学和动力学特性,得到了仿壁虎机器人稳定爬行与脚掌黏附力、足端轨迹和运动步态的关系。探讨了仿真结果的合理性和局限性,为仿壁虎机器人在实际环境中的稳定运动奠定了理论基础。     

Complexities of digital technology use and the teaching and learning of function

Many argue that digital technologies have the potential to enhance the teaching and learning of mathematics. However, the availability of technology is not sufficient to realise this potential. The study reported takes a detailed approach to investigate the utility of the particular offerings of the available technologies in the teaching and learning of a specific area of mathematics, functions. Sixteen affordances identified in the data are described. The complexity of the process involved in resolving a situation where particular affordances would be useful so as they are perceived and enacted is detailed. Finally, a grounded theory framework arising from the data analysis from this study that can be used to explain, predict and guide action in other digital environments is presented.     

Design of disturbance observer based on adaptive-neural control for large-scale time-delay systems in the presence of actuator fault and unknown dead zone

This article presents an adaptive neural compensation scheme for a class of large-scale time delay nonlinear systems in the presence of unknown dead zone, external disturbances, and actuator faults. In this article, the quadratic Lyapunov–Krasovskii functionals are introduced to tackle the system delays. The unknown functions of the system are estimated by using radial basis function neural networks. Furthermore, a disturbance observer is developed to approximate the external disturbances. The proposed adaptive neural compensation control method is constructed by utilizing a backstepping technique. The boundedness of all the closed-loop signals is guaranteed via Lyapunov analysis and the tracking errors are proved to converge to a small neighborhood of the origin. Simulation results are provided to illustrate the effectiveness of the proposed control approach.     

Creating formative feedback spaces in large lectures

Large lectures are the predominant way of teaching first-year students at universities in Norway. However, this forum for education is seldom discussed as a context for a formative feedback practice. The purpose of this sequential mixed methods study was to address whether and how a student-response system can open for a formative feedback practice in lectures and thereby support students' ability to monitor their own learning, as well as supply insight into how students engage with the feedback in their course work. The context for the study was large lectures (150–200 students) in a qualitative method course for first-year psychology students. Findings from the survey (n = 149) showed a positive correlation between the extent to which students report that they use clickers to monitor their own learning, and the extent to which they report that they used the feedback in their own course work. However, findings indicate that students valued the process of monitoring their own learning during the lectures to a greater extent than they actually used the feedback in their course work. Findings from interviews (n = 6) illustrated various ways students applied feedback in their course work.     

Real-time organic aerosol chemical speciation in the indoor environment using extractive electrospray ionization mass spectrometry

Understanding the sources and composition of organic aerosol (OA) in indoor environments requires rapid measurements, since many emissions and processes have short timescales. However, real-time molecular-level OA measurements have not been reported indoors. Here, we present quantitative measurements, at a time resolution of five seconds, of molecular ions corresponding to diverse aerosol-phase species, by applying extractive electrospray ionization mass spectrometry (EESI-MS) to indoor air analysis for the first time, as part of the highly instrumented HOMEChem field study. We demonstrate how the complex spectra of EESI-MS are screened in order to extract chemical information and investigate the possibility of interference from gas-phase semivolatile species. During experiments that simulated the Thanksgiving US holiday meal preparation, EESI-MS quantified multiple species, including fatty acids, carbohydrates, siloxanes, and phthalates. Intercomparisons with Aerosol Mass Spectrometer (AMS) and Scanning Mobility Particle Sizer suggest that EESI-MS quantified a large fraction of OA. Comparisons with FIGAERO-CIMS shows similar signal levels and good correlation, with a range of 100 for the relative sensitivities. Comparisons with SV-TAG for phthalates and with SV-TAG and AMS for total siloxanes also show strong correlation. EESI-MS observations can be used with gas-phase measurements to identify co-emitted gas- and aerosol-phase species, and this is demonstrated using complementary gas-phase PTR-MS observations.     

柔性联轴节在减小转子系统扭转冲击运动中的作用

通过对大型振动磨机运动特性的研究分析,把其旋转系统简化为由两个柔性联轴节连接的三转子系统。建立了柔性连接的三转子系统在冲击转矩作用下的运动方程,对方程求解得到了柔性连接转子系统的扭转冲击响应。通过对冲击响应随柔性联轴节扭转刚度和阻尼变化规律的讨论分析,发现减小柔性联轴节的扭转刚度和增大柔性联轴节的阻尼,可以减小转子系统的扭转冲击响应。     

大系统分散鲁棒容错控制的进展及主要成果

综述了近２０年来关联大系统分散鲁棒容错控制的研究动态及取得的主要成果。说明了统一地研究分散鲁棒容错控制的必要性。在分散控制、鲁棒控制和容错控制研究领域内，分析了各种设计方法的主导思想及实质；指出了这些研究成果的意义与存在的问题。文中着重论述了分散、鲁棒、容错控制研究方法的发展途径。     

An analog circuit design environment based on cooperating blackboard systems

A novel approach to design automation for analog circuits is presented. The prototype implementation-OASE-has been realized as a set of cooperating expert systems with blackboard architecture. The circuit specific knowledge bases use hybrid representation schemes and are strictly separated from an execution engine containing the necessary control knowledge. This alleviates the knowledge acquisition process as well as the extension and maintenance of existing knowledge. OASE has been developed as a design assistant, featuring different levels of interactivity, a hierarchical design style and fully embedded algorithmic standard tools. In its current version it is able to design a broad range of different CMOS operational amplifiers.