The culture of education

[서평]「The Unified Modeling Language User Guide」

Several physico-mechanical designs evolved in fish are currently inspiring robotic devices for propulsion and maneuvering purposes in underwater vehicles. Considering the potential benefits involved, this paper presents an overview of the swimming mechanisms employed by fish. The motivation is to provide a relevant and useful introduction to the existing literature for engineers with an interest in the emerging area of aquatic biomechanisms. The fish swimming types are presented, following the well-established classification scheme and nomenclature originally proposed by Breder. Fish swim either by body and/or caudal fin (BCF) movements or using median and/or paired fin (MPF) propulsion. The latter is generally employed at slow speeds, offering greater maneuverability and better propulsive efficiency, while BCF movements can achieve greater thrust and accelerations. For both BCF and MPF locomotion, specific swimming modes are identified, based on the propulsor and the type of movements (oscillatory or undulatory) employed for thrust generation. Along with general descriptions and kinematic data, the analytical approaches developed to study each swimming mode are also introduced. Particular reference is made to lunate tail propulsion, undulating fins, and labriform (oscillatory pectoral fin) swimming mechanisms, identified as having the greatest potential for exploitation in artificial systems.

/pdf/review-of-fish-swimming-modes-for-aquatic-locomotion-12dkkh88vr.pdf

Review of fish swimming modes for aquatic locomotion

The effective application of sliding mode control to mechanical systems is not straightforward because of the sensitivity of these systems to chattering. Higher-order sliding modes can counteract this phenomenon by confining the switching control to the higher derivatives of the mechanical control variable, so that the latter results are continuous. Generally, this approach requires the availability of a number of time derivatives of the sliding variable, and, in the presence of noise, this requirement could be a practical limitation. A class of second-order sliding mode controllers, guaranteeing finite-time convergence for systems with relative degree two between the sliding variable and the switching control, could be helpful both in reducing the number of differentiator stages in the controller and in dealing with unmodelled actuator dynamics. In this paper different second-order sliding mode controllers, previously presented in the literature, are shown to belong to the above cited class, and some cha...

A survey of applications of second-order sliding mode control to mechanical systems

One of the most important control problems is control under heavy uncertainty conditions. While there are a number of sophisticated methods like adaptation based on identification and observation, or absolute stability methods, the most obvious way to withstand the uncertainty is to keep some constraints by "brutal force". Indeed any strictly kept equality removes one " uncertainty dimension". The most simple way to keep a constraint is to react immediately to any deviation of the system stirring it back to the constraint by a sufficiently energetic effort. Implemented directly, the approach leads to so-called sliding modes, which become main operation modes in the variable structure systems (VSS) [55]. Having proved their high accuracy and robustness with respect to various internal and external disturbances, they also reveal their main drawback: the so-called chattering effect, i.e., dangerous high-frequency vibrations of the controlled system. Such an effect was considered as an obvious intrinsic feature of the very idea of immediate powerful reaction to the minutest deviation from the chosen constraint. Another important feature is proportionality of the maximal deviation from the constraint to the time interval between the measurements (or to the switching delay).

https://onlinelibrary.wiley.com/doi/pdf/10.1002/rnc.1229

Higher order sliding modes

In this paper we analyze the current situation of education in universities, with particular reference to the European scenario. Specifically, we observe that recent evolutions, such as pervasive networking and other enabling technologies, have been dramatically changing human life, knowledge acquisition, and the way works are performed and people learn. In this societal change, universities must maintain their leading role. Historically, they set trends primarily in education but now they are called to drive the change in other aspects too, such as management, safety, and environment protection. The availability of newer and newer technology reflects on how the relevant processes should be performed in the current fast changing digital era. This leads to the adoption of a variety of smart solutions in university environments to enhance the quality of life and to improve the performances of both teachers and students. Nevertheless, we argue that being smart is not enough for a modern university. In fact, universities should better become smarter. By "smarter university" we mean a place where knowledge is shared between employees, teachers, students, and all stakeholders in a seamless way. In this paper we propose, and discuss a smarter university model, derived from the one designed for the development of smart cities. A design model is proposed for the evolution of universities.The model fosters cooperation among employees, teachers, students, and stakeholders.The model fosters knowledge sharing.The model is compliant with the smart cities model.

Smarter universities

AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modeling/planning for supervisory 'blind grasping'. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen.

/pdf/amadeus-advanced-manipulation-for-deep-underwater-sampling-2zvrwbck8m.pdf

AMADEUS: advanced manipulation for deep underwater sampling

In this paper, we investigate how the raise of big data and cognitive computing systems is going to redesign the labor market, also impacting on the learning processes. In this respect, we make reference to higher education and we depict a model of a smart university, which relies on the concepts that are at the basis of the novel smart-cities development trends. Thus, we regard education as a process so that we can find specific issues to solve to overcome existing criticisms, and provide some suggestions on how to enhance universities performances. We highlight inputs, outputs, and dependencies in a block diagram, and we propose a solution built on a new paradigm called smarter-university, in which knowledge grows rapidly, is easy to share, and is regarded as a common heritage of both teachers and students. Among the others, a paramount consequence is that there is a growing demand for competences and skills that recall the so called T-shape model and we observe that this is pushing the education system to include a blend of disciplines in the curriculums of their courses. In this overview, among the wide variety of recent innovations, we focus our attention on cognitive computing systems and on the exploitation of big data, that we expect to further accelerate the refurbishment process of the key components of the knowledge society and universities as well.

The role of big data and cognitive computing in the learning process

Collaboration is one of the keywords in education as well as in computer-assisted instruction. In this respect, e-learning platforms provide users with specific tools, enabling them to collaborate and/or to cooperate so to reach common objectives. Collaboration is considered as a teaching strategy but, in many cases such as in the software engineering classes, collaboration has to be a learning outcome itself, since students must acquire a specific ability in team working. Thus a suited working environment is needed, that has to be much more than just a flexible Learning Management System. Consequently, a specific project has been launched within the Italian Eclipse Community in the framework of the Enforcing Team Cooperation (ETC) activity. The aim of the project is that of enforcing and enlarging cooperation activities among a large number of students, all attending software engineering courses at different Universities in Italy. The main idea behind the project is the implementation of a really effective Computer Supported Collaborative Learning (CSCL) paradigm, to be used for higher education on team cooperation, in software engineering classes for the analysis, design, and development of software programs along their lifecycle.

Computer Supported Collaborative Learning in software engineering

AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid-filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also been considered for closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modelling/planning for supervisory "blind grasping". Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project has been completed, with the construction of a first prototype. This paper summarizes the developments in Phase I. Further details for each area of investigation are referenced.

/pdf/amadeus-advanced-manipulator-for-deep-underwater-sampling-2wzql57u9z.pdf

Mauro Coccoli

Papers

Smarter universities

AMADEUS: advanced manipulation for deep underwater sampling

The role of big data and cognitive computing in the learning process

Computer Supported Collaborative Learning in software engineering

AMADEUS: advanced manipulator for deep underwater sampling