科创中国

世纪之交,我国教学论界开始对教学论学科建设及其问题进行多雏度、多视角的反思,这种反思促进了教学论研究的深化.但是这些反思大多是从"局内人"的视角进行的,而从跨文化比较的角度进行反思的研究尚不多见.为此,有必要基于比较教学论的视角,从教学论核心概念与术语、教学论研究体制及其实践情境、教学论研究主体与接受主体三个方面进行跨文化的比较性反思,以期进一步深化对我国教学论的元研究.

元素化合物知识是中学化学教学内容的重要组成部分,挖掘元素化合物知识的教学价值,研究其教学策略,提高元素化合物知识的教学效果,对提高中学化学整体教学质量具有重要意义.分析元素化合物知识的教学价值,构建了两种促进元素化合物知识教学价值实现的教学策略,以硫及其化合物的教学为例,采用课堂观察、学生访谈、问卷测查等定性与定量相结合的分析研究方法,对基于具体物质和基于转化的元素化合物知识教学的两种教学策略进行了实证研究,研究结果表明两种教学策略对教学价值的实现和核心教学目标的达成都有效,但是基于转化的元素化合物知识的教学策略教学效果更加显著,值得重视.

本文对生物反应工程教学中存在的问题进行了探讨,介绍了以STATISTICA作为教学辅助手段应用于生物反应工程教学.通过运用STATISTICA解决教学中遇到的计算问题,学生的学习时间得到了节约,实际应用能力也得到了提高.5年的教学实践证明,STATISTICA作为生物反应工程的教学辅助手段是可行的、有效的,可以极大地提升教学效果,提高学生分析实验数据的能力.

Existing biped robots mainly fall into two categories: robots with left and right feet and robots with upper and lower feet. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. To improve the load carrying capability, a novel biped walking robot is proposed based on a 2-UPU+2-UU parallel mechanism. The biped walking robot is composed of two identical platforms(feet) and four limbs, including two UPU(universal-prismatic-universal serial chain) limbs and two UU limbs. To enhance its terrain adaptability like articulated vehicles, the two feet of the biped walking robot are designed as two vehicles in detail. The conditions that the geometric parameters of the feet must satisfy are discussed. The degrees-of-freedom of the mechanism is analyzed by using screw theory. Gait analysis, kinematic analysis and stability analysis of the mechanism are carried out to verify the structural design parameters. The simulation results validate the feasibility of walking on rugged terrain. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Due to its unique feet design and high stiffness, the biped walking robot may adapt to rugged terrain and is suitable for load-carrying.

The existing researches on singularity of parallel mechanism are mostly limited to the property and regularity of singularity locus and there is no further research into the geometric relationship between uncontrolled kinematic screw and parallel mechanism in singularity.A 3UPS-S parallel mechanism is presented which fulfils 3-DOF in rotation.The regularity of nutation angle singularity is analyzed based on the Jacobian matrix,and the singularity surface of 3UPS-S parallel mechanisms is obtained.By applying the concept of reciprocal product in screw theory,the singular kinematic screw is derived when 3UPS-S parallel mechanism is in singularity.The geometric relationship between singular kinematic screw and singular configuration of 3UPS-S parallel mechanism is investigated by using programs in MATLAB.It is revealed that there are two kinds of situation.Firstly,the three limbs of 3UPS-S parallel mechanism intersect the singular kinematic screw in space simultaneously;Secondly,two limbs cross the singular kinematic screw while the third limb parallels with that screw.It is concluded that the nutation angle singularity of 3UPS-S parallel mechanism belongs to the singular linear complexes.This paper sheds light into and clarifies the geometric relationship between singular kinematic screw and singular configuration of 3UPS-S parallel mechanism.

系统阐述了数据包络分析(DEA)的基本思想及其改进模型,在此基础上利用所构建的投入产出指标体系实证比较研究了2010年北京市、河南省、吉林省、江西省、山东省、福建省、宁夏回族自治区七大区域的物流效率,结论表明各区域效率由高至低依次为北京市、宁夏回族自治区、山东省、河南省、江西省、福建省、吉林省,其中北京和宁夏属于DEA有效,而这一结果具有较高的一致性与可靠性.

Planar kinematics has been studied systematically based on centrodes, however axodes are underutilized to set up the curvature theories in spherical and spatial kinematics. Through a spherical adjoint approach, an axode-based theoretical system of spherical kinematics is established. The spherical motion is re-described by the adjoint approach and vector equation of spherical instant center is concisely derived. The moving and fixed axodes for spherical motion are mapped onto a unit sphere to obtain spherical centrodes, whose kinematic invariants totally reflect the intrinsic property of spherical motion. Based on the spherical centrodes, the curvature theories for a point and a plane of a rigid body in spherical motion are revealed by spherical fixed point and plane conditions. The Euler-Savary analogue for point-path is presented. Tracing points with higher order curvature features are located in the moving body by means of algebraic equations. For plane-envelope, the construction parameters are obtained. The osculating conditions for plane-envelope and circular cylindrical surface or circular conical surface are given. A spherical four-bar linkage is taken as an example to demonstrate the spherical adjoint approach and the curvature theories. The research proposes systematic spherical curvature theories with the axode as logical starting-point, and sets up a bridge from the centrode-based planar kinematics to the axode-based spatial kinematics.

Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dynamics of deployable structures with scissor-like-elements are presented based on screw theory and the principle of virtual work respectively. According to the geometric characteristic of the deployable structure examined, the basic structural unit is the common scissor-like-element(SLE). First, a spatial deployable structure, comprised of three SLEs, is defined, and the constraint topology graph is obtained. The equations of motion are then derived based on screw theory and the geometric nature of scissor elements. Second, to develop the dynamics of the whole deployable structure, the local coordinates of the SLEs and the Jacobian matrices of the center of mass of the deployable structure are derived. Then, the equivalent forces are assembled and added in the equations of motion based on the principle of virtual work. Finally, dynamic behavior and unfolded process of the deployable structure are simulated. Its figures of velocity, acceleration and input torque are obtained based on the simulate results. Screw theory not only provides an efficient solution formulation and theory guidance for complex multi-closed loop deployable structures, but also extends the method to solve dynamics of deployable structures. As an efficient mathematical tool, the simper equations of motion are derived based on screw theory.

Many attentions for structural synthesis are paid to planar linkages and parallel mechanisms, while design novel pyramid deployable truss structure(PDTS) of satellite SAR mainly depends on experience of designer. To design novel configuration of PDTS, a two-step topology structure synthesis and analysis approach is proposed. Firstly, a conceptual configuration of PDTS is synthesized. Weighted graph and weighted adjacency matrix are established to realize topological description for PDTS. Graph properties are then summarized to distinguish differentia between PDTS and other type structures. According to graph properties, a procedure for synthesis conceptual configuration of PDTS is presented. Secondly, join relationship of components in a PDTS is analyzed. Kinematic chain and corresponding incidence/adjacency matrix are employed to analyze join relationship of PDTS. Properties and simplified rules of kinematic chain are extracted to construct kinematic chain. A procedure for construction kinematic chain of PDTS is then established. Finally, with this two-step approach all 11 rectangular pyramid deployable structures whose folded state is planar are discovered and their kinematic chains are constructed. Based on synthesis results, a novel deployable support structure for satellite SAR is designed. The proposed research can be applied to obtain some novel PDTSs, which is of great importance to design some novel deployable support structures for satellite SAR antenna.

改革开放三十多年来,我国教学论学科取得了一些成绩,但也存在着诸多问题,这些问题与教学论研究的学科立场偏差密切相关.教学论研究学科立场的偏差主要表现在旨在普适性教学知识的寻求、限以自我为中心的教学表达以及止于教学论文本的逻辑运演等方面.教学论研究者需要确立基于现实教学问题解决的学科立场,明确界定教学问题、严格履行研究过程、谨慎对待教学认识、注重教学实践检验和强化研究主体意识.