“团队协作,角色分工”个性化教学在课改中的探索——以网页设计与制作课程教学为例

本文介绍作者根据霍兰德职业兴趣模型建立的职业兴趣与项目角色模型,阐述在教学过程中采用的"团队协作,角色分工"个性化教学改革,并对教改的得失进行初步总结。     

Decentralized MDPs with sparse interactions

Creating coordinated multiagent policies in environments with uncertainty is a challenging problem, which can be greatly simplified if the coordination needs are known to be limited to specific parts of the state space. In this work, we explore how such local interactions can simplify coordination in multiagent systems. We focus on problems in which the interaction between the agents is sparse and contribute a new decision-theoretic model for decentralized sparse-interaction multiagent systems, Dec-SIMDPs, that explicitly distinguishes the situations in which the agents in the team must coordinate from those in which they can act independently. We relate our new model to other existing models such as MMDPs and Dec-MDPs. We then propose a solution method that takes advantage of the particular structure of Dec-SIMDPs and provide theoretical error bounds on the quality of the obtained solution. Finally, we show a reinforcement learning algorithm in which independent agents learn both individual policies and when and how to coordinate. We illustrate the application of the algorithms throughout the paper in several multiagent navigation scenarios.     

From insect to Internet: Situated control for networked robot teams

Ant-like systems take advantage of agents' situatedness to reduce or eliminate the need for centralized control or global knowledge. This reduces the need for complexity of individuals and leads to robust, scalable systems. Such insect-inspired situated approaches have proven effective both for task performance and task allocation. The desire for general, principled techniques for situated interaction has led us to study the exploitation of abstract situatedness – situatedness in non-physical environments. The port-arbitrated behavior-based control approach provides a well-structured abstract behavior space in which agents can participate in situated interaction. We focus on the problem of role assumption, distributed task allocation in which each agent selects its own task-performing role. This paper details our general, principled Broadcast of Local Eligibility (BLE) technique for role-assumption in such behavior-space-situated systems, and provides experimental results from the CMOMMT target-tracking task. This revised version was published online in August 2006 with corrections to the Cover Date.     

Structured Reactive Controllers

Service robots, such as autonomous office couriers or robot tourguides, must be both reliable and efficient. This requires them to flexibly interleave their tasks, exploit opportunities, quickly plan their course of action, and, if necessary, revise their intended activities. In this paper, we show how structured reactive controllers (SRCs) satisfy these requirements. The novel feature of SRCs is that they employ and reason about plans that specify and synchronize concurrent percept-driven behavior. Powerful control abstractions enable SRCs to integrate physical action, perception, planning, and communication in a uniform framework and to apply fast but imperfect computational methods without sacrificing reliability and flexibility. Concurrent plans are represented in a transparent and modular form so that automatic planning processes can reason about the plans and revise them. We present experiments in which SRCs are used to control two autonomous mobile robots. In one of them an SRC controlled the course of action of a museum tourguide robot that has operated for thirteen days, more than ninetyfour hours, completed 620 tours, and presented 2668 exhibits.     

Simulating Emergent Properties of Coordination in Maude: the Collective Sort Case

Recent coordination languages and models are moving towards the application of techniques coming from the research context of complex systems: adaptivity and self-organization are exploited in order to tackle the openness, dynamism and unpredictability of today's distributed systems. In this area, systems are to be described using stochastic models, and simulation is a valuable tool both for analysis and design. Accordingly, in this work we focused on modelling and simulating emergent properties of coordination techniques.We first develop a framework acting as a general-purpose engine for simulating stochastic transition systems, built as a library for the Maude term rewriting system. We then evaluate this tool to a coordination problem called collective sort, where autonomous agents move tuples across different tuple spaces according to local criteria, and resulting in the emergence of the complete clustering property.     

Multirobot coordination in pick-and-place tasks on a moving conveyor

This paper considers the problem of multirobot coordination in pick-and-place tasks on a conveyor band. The robot team is composed of identical robots with mutually exclusive, but neighboring workspaces. The products are fed in at one end of the band, move through each workspace sequentially until being picked up and are collected at the other end—if not picked up interim. Each robot has the same task—that is picking up and packaging as many products as possible. We propose an approach based on noncooperative game theory where each robot uses local observations of the conveyor band and their neighbors' actions in order to decide on its actions. The developed algorithm has been implemented and tested in a simulated manufacturing environment using Webots. Results obtained from the simulations are analyzed using a variety of statistical performance measures.     

Local structural characterization of Zn:Cd:Se ternary semiconductors

We have studied the local atomic structure around Zn and Cd, in CdSe, ZnSe, and ordered and disordered Zn_0.5Cd_0.5Se thin films, grown by molecular beam epitaxy (MBE) and atomic layer epitaxy (ALE) using X-ray absorption spectroscopy (XAS). Zn K-shell X-ray absorption fine structure (XAFS) shows that the Zn–Se pair nearest neighbor distance is the same in both ordered and disordered ternary samples. This result shows that the ordered (or disordered growth) does not have a significant effect in the nearest neighbor Zn environment. However, results from K-shell Cd XAFS show that the Cd–Se pair nearest neighbor distance in the Zn_0.5Cd_0.5Se ordered film exhibits a contraction compared to the same pair distance in the disordered Zn_0.5Cd_0.5Se sample and the binary CdSe compound. This suggests that the shortest Zn–Se nearest neighbor distance regulates the Cd–Se nearest neighbor distance in the ternary compounds, when these are grown in an ordered, layer by layer, fashion.     

焚烧炉烟气中铅、锌、苯并(a)芘的测定

建立了用电感耦合等离子体光谱法(ICP-AES)和高效液相色谱法(HPLC)分别测定焚烧炉烟气中铅(Pb)、锌(Zn)和苯并(a)芘(BaP)的分析方法。研究了烟尘及玻璃纤维滤筒的预处理，测定Pb、Zn、BaP时基体的干扰与消除，并给出Pb、Zn的干扰校正系数。实验测得Pb、Zn和BaP的回收率超过84％，相对标准偏差Pb为3．51％，Zn为7．28%，BaP为4．30％。实验结果表明，该分析方法可以满足焚烧炉运行中的监测需要．