关键词： STEM education   underwater robot   ROV   robot contest   formative feedback  

摘要： To apply science, technology, engineering, and mathematics (STEM) education effectively, it is necessary to prepare a core that would combine its four elements and to place it centrally in an educational activity. The present authors have previously conducted an educational activity, the core of which comprised model construction using free-body diagrams (FBDs);this activity was targeted at a small group of learners. The authors employed underwater robots as the instructional material, and confirmed that positive learning effects can be produced. In the present study, we used a block diagram to construct a model of educational activities to educate participants by introducing an underwater robot and FBDs to a large group of learners, simultaneously. In addition, we designed an educational program, which ensured that the configuration would remain potent when expanded to large groups, aiming toward ensuring the educational effects. We hosted a contest based on this configuration, then evaluated the results qualitatively - by observing the participating students - and quantitatively - by conducting a questionnaire survey - to verify the effects. As a result, it was confirmed that consistency can be obtained even if the conventional educational method is extended to a larger number of student.

关键词： Nonholonomic constraints   Contact kinematics   Tracking control   Flatness theory   Optimal motion planning  

摘要： A wheeled mobile robot (WMR) is a typical nonholonomic system in which the wheels have constrained interactions with the ground. To relate these local interactions to some global constraints on the WMR, we start on the contact kinematics and then analyze the robot's dynamics using the Gibbs-Appell equation. This yields motion equations with minimal dimensions that are free of Lagrange multipliers (which would arise from application of the d'Alembert-Lagrange principle). The inverse dynamics of the WMR can then be solved using two methods. The first method looks for servo constraints to meet the control objective and are consistent with the constraints over the WMR. The second method, applying the elegant differential flatness theory, is based on one-to-one mappings from flat output to the state and the input. We also explain the reason why the WMR's energy optimal trajectory requires a cost function related to the integral of the Lagrangian. An optimization algorithm based on the Ritz approximation is offered with efficiency illustrated via two examples. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Myriapod robot   Passive dynamics   Implicit control law   Synthetic approach  

摘要： Typical myriapod robots were originally large and heavy for actuating numerous joints. Therefore, it is difficult for these robots to synthesise aspects of intelligence, such as adaptability of Myriapoda. The aim of this study is to develop a light, simple, and adaptive myriapod robot by implementing passive dynamics. In the paper, we develop a prototype of the myriapod robot, the i-CentiPot P (implicit brain centipede robot prototype) based on passive dynamics to validate its fundamental mechanism. The i-CentiPot P is lightweight (weight of approximately 1.5 kg) and small (length, width, and height of 1.2 m, 20 cm, and 5 cm). The experimental results showed that the i-CentiPot P could climb over or avoid some obstacles autonomously. The i-CentiPot P did not have active torso joints. Nevertheless, we observed that torso undulation emerged. This result indicates that interaction between the legs, the flexible and passive torso, and the ground provides the spontaneous undulation.

关键词： Computational thinking   robotics   programming   K-12   curriculum design  

摘要： Computational thinking describes key principles from computer science that are broadly generalizable. Robotics programs can be engaging learning environments for acquiring core computational thinking competencies. However, few empirical studies evaluate the effectiveness of a robotics programming curriculum for developing computational thinking knowledge and skills. This study measures pre/post gains with new computational thinking assessments given to middle school students who participated in a virtual robotics programming curriculum. Overall, participation in the virtual robotics curriculum was related to significant gains in pre- to posttest scores, with larger gains for students who made further progress through the curriculum. The success of this intervention suggests that participation in a scaffolded programming curriculum, within the context of virtual robotics, supports the development of generalizable computational thinking knowledge and skills that are associated with increased problem-solving performance on nonrobotics computing tasks. Furthermore, the particular units that students engage in may determine their level of growth in these competencies.

关键词： Museum theatre   Science theatre   Informal education   Contextual model  

摘要： Theatre is often introduced into science museums to enhance visitor experience. While learning in museums exhibitions received considerable research attention, learning from museum theatre has not. The goal of this exploratory study was to investigate the potential educational role of a science museum theatre play. The study aimed to investigate (1) cognitive learning outcomes of the play, (2) how these outcomes interact with different viewing contexts and (3) experiential learning outcomes through the theatrical experience. The play 'Robot and I', addressing principles in robotics, was commissioned by a science museum. Data consisted of 391 questionnaires and interviews with 47 children and 20 parents. Findings indicate that explicit but not implicit learning goals were decoded successfully. There was little synergy between learning outcomes of the play and an exhibition on robotics, demonstrating the effect of two different physical contexts. Interview data revealed that prior knowledge, experience and interest played a major role in children's understanding of the play. Analysis of the theatrical experience showed that despite strong identification with the child protagonist, children often doubted the protagonist's knowledge jeopardizing integration of scientific content. The study extends the empirical knowledge and theoretical thinking on museum theatre to better support claims of its virtues and respond to their criticism.

关键词： Underwater robot   hydrodynamic coefficients   computational fluid dynamics   wall effect   a prototype test  

摘要： In this article, a mathematical model of hydrodynamic force was established to model the influence of wall in realizing the precise control and maneuverability of a complex-shaped underwater robot. A hydrodynamic model of a robot for use in a nuclear reaction pool was presented containing not only hydrodynamics coefficients but also a wall hydrodynamic force term, which was often ignored for robots used at sea. First, hydrodynamic coefficients in the model, including viscous and inertial coefficients, were solved by simulating steady-state and unsteady-state motion by computational fluid dynamics. Next, the wall hydrodynamic force was calculated by computational fluid dynamics for different velocities and distances from the wall, and the scope of influence of the wall was identified. Finally, hydrodynamic coefficients without the wall effect and with the wall hydrodynamic force under different conditions were measured experimentally in a circulating water tank. The result demonstrated the accuracy of hydrodynamic calculation by computational fluid dynamics and verified the reliability of the hydrodynamic mathematical model.

关键词： Electronic beacons   Social robots   Human-robot interaction   Bluetooth Low Energy   User identification   Object identification  

摘要： Social robots are intended to coexist and to communicate with humans in a natural way. This requires these robots to be able to identify people (and objects) around them to use that information during human-robot dialogs. In this work we present how electronic beacons can benefit the interactions between humans and social robots. In particular, Bluetooth 4.0 Low Energy beacons are presented as the most suitable option, among the up-to-date available technologies. In order to show the advantages of the system during human-robot interaction, first, we present the integration of the information provided by these devices in the robot's dialog system;and after, a hidden toy hunt game is described as a case study of a scenario where electronic beacons ease the interaction between humans and a social robot. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Cybathlon   Exoskeleton   Competition   DRC  

摘要： Background: As a research scientist, my work tends to focus on scientific investigations. Our group occasionally makes discoveries or has a successful demonstration, and sometimes we can even repeatedly demonstrate something working on the hardware. This mode of operation works for research, but not for competitions. In the past few years, I have participated in two international robotics competitions, the DARPA Robotics Challenge (DRC) and the Cybathlon;the research and development process for these competitions is significantly different from our typical research work. This commentary discusses our experience preparing for the Cybathlon, and contrasts it with our experience with the DRC. Main body: The human in the loop for the Cybathlon was the biggest differentiator between the DRC and the Cybathlon. Having the human at the center of the competition not only changed the way we developed, but changed how we viewed the impact of our work. For the DRC, a physics based dynamic simulation was a powerful, and invaluable, tool for not only the algorithm developers, but the robot operator as well. For the Cybathlon, simulation was of little use because the all of closed-loop control was performed by the pilot. In the software development cycle for the Cybathlon, the push was to just come up with something that works and "lock it down" and do not change it, so that the pilot could train with a given set of motions that would not change and make up for any deficiencies with his own abilities. The Cybathlon was more of an athletic challenge for the human who was assisted by technology. The DRC was the opposite, it was a robotics challenge assisted by a human. This commentary focuses on describing the Florida Institute for Human and Machine Cognition's (IHMC) experience leading up to and at the Cybathlon, with some comparisons to the DRC experience. Conclusion: The Cybathlon was a very worthwhile experience me, my team, and of course our pilot. Knowing that our development

关键词： 机器人   学习   兴趣班   学校  

摘要： 几年前的一天，妈妈带着一副神秘而又掩饰不住的得意神情告诉我，她去学校听了机器人兴趣班的宣传课，

关键词： FTC竞赛   机器人   设计   组装  

摘要： 习总书记提出的利用工业制造4.0实行我国工业现代化弯道超车的伟大目标,智能机器人是关键。当前所有机器正在走向智能化和自动化,智能机器人也是现在乃至未来的热点,向青少年进行机器人的普及是非常必要的,可以提高青少年的创新实践能力和科学研究能力。本次研究通过FTC机器人的竞赛,来对一种基于光电和颜色识别传感器装置和子弹装帧结构进行配合的竞赛机器人进行设计和组装,并通过自己亲身经历的思考对机器人竞赛等一系列创新活动进行探索。