Dynamic Goal-Based Role-Play Simulation on the Web A Case Study
外文文献文献列表

- disruption ,: Global convergence vs nationalSustainable - ,practices and dynamic capabilities in the food industry: A critical analysis of the literature5 Mesoscopic - simulation6 Firm size and sustainable performance in food -s: Insights from Greek SMEs7 An analytical method for cost analysis in multi-stage -s: A stochastic / model approach8 A Roadmap to Green - System through Enterprise Resource Planning (ERP) Implementation9 Unidirectional transshipment policies in a dual-channel -10 Decentralized and centralized model predictive control to reduce the bullwhip effect in - ,11 An agent-based distributed computational experiment framework for virtual - / development12 Biomass-to-bioenergy and biofuel - optimization: Overview, key issues and challenges13 The benefits of - visibility: A value assessment model14 An Institutional Theory perspective on sustainable practices across the dairy -15 Two-stage stochastic programming - model for biodiesel production via wastewater treatment16 Technology scale and -s in a secure, affordable and low carbon energy transition17 Multi-period design and planning of closed-loop -s with uncertain supply and demand18 Quality control in food - ,: An analytical model and case study of the adulterated milk incident in China19 - information capabilities and performance outcomes: An empirical study of Korean steel suppliers20 A game-based approach towards facilitating decision making for perishable products: An example of blood -21 - design under quality disruptions and tainted materials delivery22 A two-level replenishment frequency model for TOC - replenishment systems under capacity constraint23 - dynamics and the ―cross-border effect‖: The U.S.–Mexican border’s case24 Designing a new - for competition against an existing -25 Universal supplier selection via multi-dimensional auction mechanisms for two-way competition in oligopoly market of -26 Using TODIM to evaluate green - practices under uncertainty27 - downsizing under bankruptcy: A robust optimization approach28 Coordination mechanism for a deteriorating item in a two-level - system29 An accelerated Benders decomposition algorithm for sustainable - / design under uncertainty: A case study of medical needle and syringe -30 Bullwhip Effect Study in a Constrained -31 Two-echelon multiple-vehicle location–routing problem with time windows for optimization of sustainable - / of perishable food32 Research on pricing and coordination strategy of green - under hybrid production mode33 Agent-system co-development in - research: Propositions and demonstrative findings34 Tactical ,for coordinated -s35 Photovoltaic - coordination with strategic consumers in China36 Coordinating supplier׳s reorder point: A coordination mechanism for -s with long supplier lead time37 Assessment and optimization of forest biomass -s from economic, social and environmental perspectives – A review of literature38 The effects of a trust mechanism on a dynamic - /39 Economic and environmental assessment of reusable plastic containers: A food catering - case study40 Competitive pricing and ordering decisions in a multiple-channel -41 Pricing in a - for auction bidding under information asymmetry42 Dynamic analysis of feasibility in ethanol - for biofuel production in Mexico43 The impact of partial information sharing in a two-echelon -44 Choice of - governance: Self-managing or outsourcing?45 Joint production and delivery lot sizing for a make-to-order producer–buyer - with transportation cost46 Hybrid algorithm for a vendor managed inventory system in a two-echelon -47 Traceability in a food -: Safety and quality perspectives48 Transferring and sharing exchange-rate risk in a risk-averse - of a multinational firm49 Analyzing the impacts of carbon regulatory mechanisms on supplier and mode selection decisions: An application to a biofuel -50 Product quality and return policy in a - under risk aversion of a supplier51 Mining logistics data to assure the quality in a sustainable food -: A case in the red wine industry52 Biomass - optimisation for Organosolv-based biorefineries53 Exact solutions to the - equations for arbitrary, time-dependent demands54 Designing a sustainable closed-loop - / based on triple bottom line approach: A comparison of metaheuristics hybridization techniques55 A study of the LCA based biofuel - multi-objective optimization model with multi-conversion paths in China56 A hybrid two-stock inventory control model for a reverse -57 Dynamics of judicial service -s58 Optimizing an integrated vendor-managed inventory system for a single-vendor two-buyer - with determining weighting factor for vendor׳s ordering59 Measuring - Resilience Using a Deterministic Modeling Approach60 A LCA Based Biofuel - Analysis Framework61 A neo-institutional perspective of -s and energy security: Bioenergy in the UK62 Modified penalty function method for optimal social welfare of electric power - with transmission constraints63 Optimization of blood - with shortened shelf lives and ABO compatibility64 Diversified firms on dynamical - cope with financial crisis better65 Securitization of energy -s in China66 Optimal design of the auto parts - for JIT operations: Sequential bifurcation factor screening and multi-response surface methodology67 Achieving sustainable -s through energy justice68 - agility: Securing performance for Chinese manufacturers69 Energy price risk and the sustainability of demand side -s70 Strategic and tactical mathematical programming models within the crude oil - context - A review71 An analysis of the structural complexity of - /s72 Business process re-design methodology to support - integration73 Could - technology improve food operators’ innovativeness? A developing country’s perspective74 RFID-enabled process reengineering of closed-loop -s in the healthcare industry of Singapore75 Order-Up-To policies in Information Exchange -s76 Robust design and operations of hydrocarbon biofuel - integrating with existing petroleum refineries considering unit cost objective77 Trade-offs in - transparency: the case of Nudie Jeans78 Healthcare - operations: Why are doctors reluctant to consolidate?79 Impact on the optimal design of bioethanol -s by a new European Commission proposal80 Managerial research on the pharmaceutical - – A critical review and some insights for future directions81 - performance evaluation with data envelopment analysis and balanced scorecard approach82 Integrated - design for commodity chemicals production via woody biomass fast pyrolysis and upgrading83 Governance of sustainable -s in the fast fashion industry84 Temperature ,for the quality assurance of a perishable food -85 Modeling of biomass-to-energy - operations: Applications, challenges and research directions86 Assessing Risk Factors in Collaborative - with the Analytic Hierarchy Process (AHP)87 Random / models and sensitivity algorithms for the analysis of ordering time and inventory state in multi-stage -s88 Information sharing and collaborative behaviors in enabling - performance: A social exchange perspective89 The coordinating contracts for a fuzzy - with effort and price dependent demand90 Criticality analysis and the -: Leveraging representational assurance91 Economic model predictive control for inventory ,in -s92 - ,ontology from an ontology engineering perspective93 Surplus division and investment incentives in -s: A biform-game analysis94 Biofuels for road transport: Analysing evolving -s in Sweden from an energy security perspective95 - ,executives in corporate upper echelons Original Research Article96 Sustainable - ,in the fast fashion industry: An analysis of corporate reports97 An improved method for managing catastrophic - disruptions98 The equilibrium of closed-loop - super/ with time-dependent parameters99 A bi-objective stochastic programming model for a centralized green - with deteriorating products100 Simultaneous control of vehicle routing and inventory for dynamic inbound -101 Environmental impacts of roundwood - options in Michigan: life-cycle assessment of harvest and transport stages102 A recovery mechanism for a two echelon - system under supply disruption103 Challenges and Competitiveness Indicators for the Sustainable Development of the - in Food Industry104 Is doing more doing better? The relationship between responsible - ,and corporate reputation105 Connecting product design, process and - decisions to strengthen global - capabilities106 A computational study for common / design in multi-commodity -s107 Optimal production and procurement decisions in a - with an option contract and partial backordering under uncertainties108 Methods to optimise the design and ,of biomass-for-bioenergy -s: A review109 Reverse - coordination by revenue sharing contract: A case for the personal computers industry110 SCOlog: A logic-based approach to analysing - operation dynamics111 Removing the blinders: A literature review on the potential of nanoscale technologies for the ,of -s112 Transition inertia due to competition in -s with remanufacturing and recycling: A systems dynamics mode113 Optimal design of advanced drop-in hydrocarbon biofuel - integrating with existing petroleum refineries under uncertainty114 Revenue-sharing contracts across an extended -115 An integrated revenue sharing and quantity discounts contract for coordinating a - dealing with short life-cycle products116 Total JIT (T-JIT) and its impact on - competency and organizational performance117 Logistical - design for bioeconomy applications118 A note on ―Quality investment and inspection policy in a supplier-manufacturer -‖119 Developing a Resilient -120 Cyber - risk ,: Revolutionizing the strategic control of critical IT systems121 Defining value chain architectures: Linking strategic value creation to operational - design122 Aligning the sustainable - to green marketing needs: A case study123 Decision support and intelligent systems in the textile and apparel -: An academic review of research articles124 - ,capability of small and medium sized family businesses in India: A multiple case study approach125 - collaboration: Impact of success in long-term partnerships126 Collaboration capacity for sustainable - ,: small and medium-sized enterprises in Mexico127 Advanced traceability system in aquaculture -128 - information systems strategy: Impacts on - performance and firm performance129 Performance of - collaboration – A simulation study130 Coordinating a three-level - with delay in payments and a discounted interest rate131 An integrated framework for agent basedinventory–production–transportation modeling and distributed simulation of -s132 Optimal - design and ,over a multi-period horizon under demand uncertainty. Part I: MINLP and MILP models133 The impact of knowledge transfer and complexity on - flexibility: A knowledge-based view134 An innovative - performance measurement system incorporating Research and Development (R&D) and marketing policy135 Robust decision making for hybrid process - systems via model predictive control136 Combined pricing and - operations under price-dependent stochastic demand137 Balancing - competitiveness and robustness through ―virtual dual sourcing‖: Lessons from the Great East Japan Earthquake138 Solving a tri-objective - problem with modified NSGA-II algorithm 139 Sustaining long-term - partnerships using price-only contracts 140 On the impact of advertising initiatives in -s141 A typology of the situations of cooperation in -s142 A structured analysis of operations and - ,research in healthcare (1982–2011143 - practice and information quality: A - strategy study144 Manufacturer's pricing strategy in a two-level - with competing retailers and advertising cost dependent demand145 Closed-loop - / design under a fuzzy environment146 Timing and eco(nomic) efficiency of climate-friendly investments in -s147 Post-seismic - risk ,: A system dynamics disruption analysis approach for inventory and logistics planning148 The relationship between legitimacy, reputation, sustainability and branding for companies and their -s149 Linking - configuration to - perfrmance: A discrete event simulation model150 An integrated multi-objective model for allocating the limited sources in a multiple multi-stage lean -151 Price and leadtime competition, and coordination for make-to-order -s152 A model of resilient - / design: A two-stage programming with fuzzy shortest path153 Lead time variation control using reliable shipment equipment: An incentive scheme for - coordination154 Interpreting - dynamics: A quasi-chaos perspective155 A production-inventory model for a two-echelon - when demand is dependent on sales teams׳ initiatives156 Coordinating a dual-channel - with risk-averse under a two-way revenue sharing contract157 Energy supply planning and - optimization under uncertainty158 A hierarchical model of the impact of RFID practices on retail - performance159 An optimal solution to a three echelon - / with multi-product and multi-period160 A multi-echelon - model for municipal solid waste ,system 161 A multi-objective approach to - visibility and risk162 An integrated - model with errors in quality inspection and learning in production163 A fuzzy AHP-TOPSIS framework for ranking the solutions of Knowledge ,adoption in - to overcome its barriers164 A relational study of - agility, competitiveness and business performance in the oil and gas industry165 Cyber - security practices DNA – Filling in the puzzle using a diverse set of disciplines166 A three layer - model with multiple suppliers, manufacturers and retailers for multiple items167 Innovations in low input and organic dairy -s—What is acceptable in Europe168 Risk Variables in Wind Power -169 An analysis of - strategies in the regenerative medicine industry—Implications for future development170 A note on - coordination for joint determination of order quantity and reorder point using a credit option171 Implementation of a responsive - strategy in global complexity: The case of manufacturing firms172 - scheduling at the manufacturer to minimize inventory holding and delivery costs173 GBOM-oriented ,of production disruption risk and optimization of - construction175 Alliance or no alliance—Bargaining power in competing reverse -s174 Climate change risks and adaptation options across Australian seafood -s – A preliminary assessment176 Designing contracts for a closed-loop - under information asymmetry 177 Chemical - modeling for analysis of homeland security178 Chain liability in multitier -s? Responsibility attributions for unsustainable supplier behavior179 Quantifying the efficiency of price-only contracts in push -s over demand distributions of known supports180 Closed-loop - / design: A financial approach181 An integrated - / design problem for bidirectional flows182 Integrating multimodal transport into cellulosic biofuel - design under feedstock seasonality with a case study based on California183 - dynamic configuration as a result of new product development184 A genetic algorithm for optimizing defective goods - costs using JIT logistics and each-cycle lengths185 A - / design model for biomass co-firing in coal-fired power plants 186 Finance sourcing in a -187 Data quality for data science, predictive analytics, and big data in - ,: An introduction to the problem and suggestions for research and applications188 Consumer returns in a decentralized -189 Cost-based pricing model with value-added tax and corporate income tax for a - /190 A hard nut to crack! Implementing - sustainability in an emerging economy191 Optimal location of spelling yards for the northern Australian beef -192 Coordination of a socially responsible - using revenue sharing contract193 Multi-criteria decision making based on trust and reputation in -194 Hydrogen - architecture for bottom-up energy systems models. Part 1: Developing pathways195 Financialization across the Pacific: Manufacturing cost ratios, -s and power196 Integrating deterioration and lifetime constraints in production and - planning: A survey197 Joint economic lot sizing problem for a three—Layer - with stochastic demand198 Mean-risk analysis of radio frequency identification technology in - with inventory misplacement: Risk-sharing and coordination199 Dynamic impact on global -s performance of disruptions propagation produced by terrorist acts。
足球机器人外文文献原文及译文

RoboCup is a Stage which Impulse theResearch of Basic Technology in Robot1 IntroductionRoboCup is an international joint project to promote Artificial Intelligence (AI), robotics, and related field. It is an attempt to foster AI and intelligent robotics research by providing a standard problem where wide range of technologies can be integrated and examined. RoboCup chose to use soccer game as a central topic of research, aiming at innovations to be applied for socially significant problems and industries. The ultimate goal of the RoboCup project is by 2050, develop a team of fully autonomous humanoid robots that can win against the human world champion team in soccer (Fig 1).In order for a robot team to actually perform a soccer game, various technologies must be incorporated including: design principles of autonomous agents, multi-agent collaboration, strategy acquisition, real-time reasoning, robotics, and sensor-fusion.RoboCup is a task for a team of multiple fast-moving robots under a dynamic environment. RoboCup also offers a software platform for research on the softwareaspects of RoboCup (Burkhard02).One of the major applications of RoboCup technologies is a search and rescue in large scale disaster. RoboCup initiated RoboCup rescue project to specifically promote research in socially significant issues.In the next section we will introduce the origin, organization and leagues of RoboCup. Section 3 we will discuss the relative technology in RoboCup.Figure 1. Soccer racing in the future2 The Origin, Organization and Leagues of RobocupThe concept of RoboCup was first introduced by professor of Alan Mackworth in 1993. The main goal of RoboCup is to propose a challenged research issue to develop robotic. Following a two-year feasibility study, in August 1995, an announcement was made on the introduction of the first international conferences and footballgames.Now RoboCup Soccer is divided into the following leagues: Simulation league(2D,3D), Small-size robot league (f-180), Middle-size robot league (f-2000), Fourlegged robot league, Humanoid league. In July 1997, the first official conference and games were held in Japan. The annual events attracted many participants and spectators.2.1RoboCup 2D-Simulation LeagueThe RoboCup 2D-simulation league uses a simulator called the Soccer Server to do the soccer simulation. The Soccer Server provides a standard platform for research into multiagent systems. The Soccer Server simulates the players, the ball and the field for a 2D soccer match.22 clients (11 for each team) connect to the server, each client controlling a single player. Every 100ms the Soccer Server accepts commands, via socket communication,from each client. The client sends low level commands (dash, turn or kick) to be executed (imperfectly) by the simulated player it is controlling. Clients can only communicate with each other using an unreliable, low bandwidth communication channel built into the Soccer Server. The Soccer Server simulates the (imperfect) sensing of the players, sending an abstracted (objects, e.g. players and ball, with direction, distance and relative velocity) interpretation of field of vision to the clients every 150ms. The field of vision of the clients is limited to only a part of the whole field. The Soccer Server enforces most of the basic rules of (human) soccer including off-sides, corner kicks and goal kicks and simulates some basic limitations on players such as maximum running speed, kicking power and stamina limitations (Bom99).An extra client on each team can connect a s a “coach”, who can see the whole field and send strategic information to clients when the play is stopped, for example for a free-kick. The Soccer Monitor (Fig 2) connects to the Soccer Server as another client and provides a 2D visualization of the game for a human audience. Other clients can connect in the same way to do things like 3D visualization, automated commentary and statistical analysis.There are no actual robots in this league but spectators can watch the action on a large screen, which looks like a giant computer game. Each simulated robot player may have its own play strategy and characteristic and every simulated team actually consists of a collection of programmers. Many computers are networked together in order for this competition to take place. The games last for about 10 minutes, with each half being 5 minutes duration.2. 2 RoboCup 3D-Simulation LeagueThe 3D competition makes use of the simulator that is based on the simulation system introduced at the RoboCup 2003 symposium and the spades simulationmiddleware systemFigure 3. RoboCup 3D-Simulation leagueFigure 2. RoboCup 2D-Simulation leagueintroduced at the RoboCup 2002 symposium. It can be downloaded from source forge (Fig 3). One of the goals for future 3D soccer competitions is to have simulated robots with articulated bodies, for example like humanoid robots. Prior to compiling and installing the rcssserver3D, you need to install a few software packages. You can compile and install rcssserver3D in two different ways, a "light" installation and the full installation. With the full installation, you get an additional library (called kerosin), which is useful to visualize objects nicely, especially articulated objects (this are objects consisting of more than one geometry linked with joints). These features are not (yet) required for the soccer simulation. The light installation, which is the default, you get a not so fancy OpenGL visualization. To enable the full installation, pass the "--enable-kerosin" flag to the `configure' shell script. For the generic installation instructions, see the text below the specific instructions here.Required libraries for the default installation:(1) spades- working versions: 1.0, older versions may also work;- get it at: /projects/ spades-sim;- description: agent middleware, handles timing issues and networking;- additional info: you need a recent version of expat for spades.(2) ruby- working versions: 1.8.0 or newer;- get it at: /;- description: scripting language;- additional info: if you compile ruby yourself, configure with enable-shared.(3) boost- working versions: 1.30.2, 1.31.0;- get it at: /;- description: c++ programming extensions.(4) ode- working versions: 0.039;- - get it at: /projects/ open- de;- -descriptions: for simulating articulated rigid body dynamics.(5) OpenGL, GLUTYou need the OpenGL and GLUT headers for the visualization. This may be dependent on your graphics card. (GLUT is the OpenGL Utility Toolkit).-part for example of XFree86-Mesa-devel;-you should get it with your linux distro.2.3 Small-size Robot LeagueThe field of play must be rectangular. The dimensions include boundary lines. Length: 4900mm, Width:3400 mm. A small-size RoboCup takes place between two teams of five robots each (Fig 4).Figure 4. Small-size robot leagueEach robot must conform to the dimensions as specified in the F180 rules: The robot must fit within a 180mm diameter circle and must be no higher than 15cm unless they use onboard vision. The robots play soccer on a green carpeted field that is 2.8m long by 2.3m wide with an orange golf ball. Robots come in two flavors, those with local on-board vision sensors and those with global vision. Global vision robots, by far the most common variety, use an overhead camera and off-field PC to identify and track the robots as they move around the field. The overhead camera is attached to a camera bar located 3m above the playing surface. Local vision robots have their sensing on the robot itself. The vision information is either processed on-board the robot or is transmitted back to the off-field PC for processing. An off-field PC is used to communication referee commands and, in the case of overhead vision, position information to the robots. Typically the off-field PC also performs most, if not all, of the processing required for coordination and control of the robots. Communications is wireless and typically uses dedicated commercial FM transmitter/receiver units although at least one team has used IRDA successfully.2.4 Middle Size LeagueTwo teams of 4 mid-sized robots with all sensors on-board play soccer on a field. Relevant objects are distinguished by colors. Communication among robots (if any) is supported on wireless communications. No external intervention by humans is allowed, except to insert or remove robots in/from the field.Figure 5. Middle Size League2. 5 The Four-Legged LeagueIn The Four-Legged League, participating teams have to use robots specified by the Competition Committee without any modification on its hardware.In 2004 there are choices of either using:-Sony Entertainment Robot AIBO ERS-210/210A, or-Sony Entertainment Robot AIBO ERS-7, or-A combination of both in the teamThe four main technical issues associated with the SSL are the following:Robust color processing and color tracking. The lighting at tournament halls is very irregular; there are shadows and unpredictable variations during a game. The software has to surmount these difficulties while processing video frames provided by inexpensive cameras. In recent years, most good teams have solved these issues, and we do not see them losing the robots or the ball.Robust mechanical design. A robot able to play at a good level in the SSL must be fast (1-2 m/s maximal speed) and able to resist strong collisions. Typically, SSL robots can fall from a table and continue playing. There has been a new emphasis in mechanical designduring the last two years with the introduction of such innovations as omni directional drive (Cornell 2000) and dribbling bars that allow robots to control the ball and pass it (Cornell 2001).Robust wireless communications. This might be considered the single most important unsolved issue in the SSL. Most teams use the same RF chips and this has led to significant interference problems in the past. Tournaments have become too long because it is very difficult to schedule simultaneous games. A solution such as WaveLan cards or Bluetooth modules will be explored in the future.Good programming of robot behavior. It can be safely said that most teams in the SSL have adopted a pure reactive design with simple strategic goals. The fact that the field of play is too small relative to the size of the robots means that it does not pay to compute too complicated strategies. The horizon of most systems is just a few frames into the future, since the robots are so fast relative to the size of the field. Thus, enlarging the field has to become a major research issue if more sophisticated strategies are to be programmed.Figure 6. 4 legged league Figure 7. Humanoid league2.6 Humanoid LeagueHumanoid robots show basic skills of soccer players, such as shooting a ball, or defending a goal. Relevant objects are distinguished by colors. External intervention by humans is allowed, as some of the humanoid robots are tele-operated.3 Viewing a Soccer Game as a Multi-Agent EnvironmentA soccer game is a specific but very attractive real time multi-agent environment from the viewpoint of distributed artificial intelligence and multi-agent research. If we regard a soccer team as a multi-agent system, a lot of interesting research issues will arise.In a game, we have two competing teams. Each team has a team-wide common goal, namely to win the game. The goals of the two teams are incompatible. The opponent team can be seen as a dynamic and obstructive environment, which might disturb the achievement of the common team goal. To fulfill the common goal, each team needs to score, which can be seen as a sub-goal. To achieve this subgoals, each team member is required to behave quickly, flexibly, and cooperatively; by taking local and global situations into account.The team might have some sorts of global (team-wide) strategies to fulfill the common goal, and both local and global tactics to achieve subgoals. However, consider the following challenges:-the game environment, i.e. the movement of the team members and the opponent team, is highly dynamic.-the perception of each player could be locally limited.-the role of each player can be different.-communication among players is limited; therefore, each agent is required to behave very flexibly and autonomously in real-time under the resource bounded situation.Summarizing these issues, a soccer team can be viewed as a cooperative distributed realtime planning scheme, embedded in a highly dynamic environment. In cooperative distributed planning for common global goals, important tasks include the generation of promising local plans at each agent and coordination of these local plans. The dynamics of the problem space, e.g. the changing rate of goals compared with the performance of each planner, are relatively large, reactive planning that interleaves the plan generation and execution phases is known to be an effective methodology at least for a single agent to deal with these dynamic problems.For cooperative plan schemes, there are frequent changes in the problem space or the observation of each agent is restricted locally. There is a trade-off between communication cost, which is necessary to coordinate the local plans of agents with a global plan, and the accuracy of the global plan (this is known as the predictability/responsiveness tradeoff). The study of the relationship between the communication cost and processing cost concerning the reliability of the hypotheses in FA/C, and the relationship between the modification cost of local plans and the accuracy of a global plan in PGP illustrate this fact. Schemes for reactive cooperative planning in dynamic problem spaces have been proposed and evaluated sometimes based on the pursuit game (predator-prey)(Hiroaki01). However, the pursuit game is a relatively simple game, the environment is basically for the study of a single agent architecture.We see that a robot soccer game will provide a much tougher, fertile, integrated, exciting, and pioneering evaluation environment for distributed artificial intelligence and multiagent research.4 Research Issues for Robocup with Real RobotsIn this section, we discuss several research issues involved in realizing real robots for RoboCup.(1) Design of RoboCup player and their control: Existing robot players have been designed to perform mostly single behavior actions, such as pushing/dribbling/rolling. A RoboCup player should be designed so that it can perform multiple subtasks such as shooting (including kicking), dribbling (pushing), passing, heading, and throwing a ball; which often involves the common behavior of avoiding the opponents. Roughly speaking, there are two ways to build RoboCup players:- Design each component separately, which is specialized for a single behavior and then assemble them into one.- Design one or two components that can per form multiple subtasks.Approach 1 seems easier to design but more difficult to build and vice versa. Since the RoboCup player should move around quickly it should be compact; therefore, approach 2 should be a new target for the mechanical design of the RoboCup player. We need compact and powerful actuators with wide dynamic ranges. Also, we have to develop sophisticated control techniques for as few as possible multiple behavior components with low energy consumption. The ultimate goal of a RoboCup player would be a humanoid type, that can run, kick and pass a ball with its legs and feet; can throw a ball with its arms and hands, and can do heading with its head. To build a team of humanoid type robots currently seems impossible.(2) Vision and sensor fusion: Visual information is a rich source of information to perceive, not only the external world, but the effects of the robot's actions as well. Computer Vision researchers have been seeking an accurate 3D geometry reconstructing from 2D visual information, believing in that the 3D geometry is the most powerful and general representation. This could be used in many applications, such as view generation for a video database, robot manipulation and navigation. However, the time-consuming 3D reconstruction may not be necessary nor optimally suited for the task given to the RoboCup player. In order to react to the situation in real time, the RoboCup player quickly needs information to select behavior for the situation, we are not suggesting a specialpurpose vision system, just that the vision is part of a complex system that interacts in specific ways with the world. RoboCup is one of these worlds, which would make clear the role of vision and evaluate the performance of image processing which has been left ambiguous in the computer vision field. In addition to vision, the RoboCup player might need other sensing devices such as: sonar, touch, and force/torque, to discriminate the situations that cannot be discriminated from only the visual information nor covered by visual information. Again, the RoboCup player needs the real time processing for multisensor fusion and integration. Therefore, the deliberative approaches with rough estimation using multi-sensor system do not seem suitable. We should develop a method of sensor fusion/integration for the RoboCup.(3) Learning RoboCup behaviors: The individual player has to perform several behaviors, one of which is selected depending on the current situation. Sinceprogramming the robot behaviors for all situations, considering the uncertainties insensory data processing and action execution is unfeasible, robot-learning methods seem promising. As a method for robot learning, reinforcement learning has recently been receiving increased attention with little or no a priori knowledge giving higher capability of reactive and adaptive behaviors (Balch00). However, almost all of the existing applications have been done only with computer simulations in a virtual world, real robot applications are very few(Silvia 99). Since the prominence of the reinforcement learning role is largely determined by the extent to which it can be scaled to larger and complex robot learning tasks, the RoboCup seems a very good platform. At the primary stage of the RoboCup tournament, one to one competition seems feasible. Since the player has to take the opponent's motions into consideration, the complexity of the problem is much higher than that of simple shooting without an opponent. To reduce the complexity, task decomposition is often used. Fredrik proposed a method for learning a shooting behavior avoiding a goal keeper (Fredrik00). The shooting and avoiding behaviors are independently acquired and they are coordinated through the learning. Their method still suffers from the huge state space and the perceptual liaising problem, due to the limited visual field. Kum proposed a reactive deliberation approach to the architecture for real time intelligent control in a dynamic environment (Kum99. He applied it to a one to one soccer-like game. Since his method needs global sensing for robot positions inside the field, it does not seem applicable to the RoboCup that allows the sensing capability only through the agents (see the rule section). At the final stage, a many-to-many competition is considered. In this case, collective behaviors should be acquired. Defining all the collective behaviors, as a team seems infeasible, especially, the situations where one of multiple behaviors should be performed. It is difficult to find a simple method for learning these behaviors, definition of social behaviors. A situation would not be defined as the exact positions of all players and a ball, but might be perceived as a pattern. Alternatives, such as"coordination by imitation," should be considered. In addition to the above, the problems related to the RoboCup such as task representation and environment modeling are also challenging ones. Of course, integration of the solutions for the problems mentioned above into a physical entity is the most difficult one.5 Relative Technology in RobocupThe robot football game is taken on by hardware or imitated robot human. The rule is similar to the true human football game. The research of robot football match taken by hardware is concerned with computer, automatic control, sensing technology, wireless communication, precise mechanism, imitated materials and numerous forward-position researches and synthesizes integration. Imitated robot football game is carried on the standard software platform and it fully embodies the technologies of control, communication, sensing and some other aspects. The key points of the researches are some advanced functions, such as cooperation in the system, dynamic decisions, timely plans, the learning of machine and some hot points in the current artificial intelligence. Therefore, in the realm of international artificial intelligence, robot football is regarded as a standard problem in the future 50 years, just as the international chess games between human and computer.The robot football game can do benefit to apply the theories of AI to practice. It also can help to examine the new thoughts, new techniques, and promote the related development of technology. A series of new techniques used by Robot football games will do favor to the development of social economy and culture. Robot football games are not only a kind of front competition with high techniques, but also provide amusement, enjoyment and incentive, which the true game provides. We can anticipate that this activity will produce tremendous market's need and new industrial opportunities, and will bring inestimable utilities of economy and society. The target of the research of RoboCup is to provide a test platform for the distributed system. In a specific way, it includes the research targets as follows:- The posture of robot. Now the robot uses wheel and bedrail, the human player don’t play with it in court. So we must build the robot like human such as gesture,structure and weight.- The body of robot. If the robot is full of iron and plastic, people are afraid of touch in it. So the robot must own the muscle and can collide with people.- The energy of robot. Now the soccer robot’s power is battery, but can only use few minutes. in the future, the soccer robot must run and move in 45-50 minutes, thatmeans the battery must has little volume, the light weight and full of power.- The skill of robot. Now the two-logger robot can move in stair. The best soccer robot is four-legged dog of SONY corporation. After 50 years, the robots must can run, move jump, shoot, dribble like human being. People can do, so the robots can do.- Intelligence of robot. The high level player plays with ball using their brain, so the intelligence of star must high-class. In 1997,IBM’s deep blue beat down Kasparov , but IBM use 16 RISK6000.so in the future, the micro computer in soccer robot must very well.- The sense of robot. The sense parts are arranged at will. for example, it can own six eyes, use sonar and wireless communication network, now the tech of sense can not solve the comprehension of image, the power of touch and the function andefficiency of inside sensor. So we must solve these problems.6 The Significance of Researching RobocupThinking carefully, we can suggest more contents and difficult points. We seem to have reasons to deny the imagination of “the battle between human and machine”. Because it is unimaginable to reach such achievement today.But look back to the history, nowadays, there are so many scientific achievements which are unimaginable for the forefathers, aren’t there? People will have an unusual eye on the scientific development in 50 years.It’s about half century from the first plane of which the Wright brothers’ having trial flight to the suc cessful landing on the moon of Aporo airship. While it’s also 50 years fromthe first computer to computer of “Deep blue” defeating human genius. Now we can see that we should not say “no” in advance for “the battle between human and machine” about 50 years later.Which we need now is the spirit of innovation, active participation. What we should do is to try our best to improve this process.It’s easy to see that we should innovate more. It contains outstanding progress of artificial life, energy power, ma terial and so on. And it’s also contains the great break of many sciences about the project of mechanics, electricity, control, information and computer which are related to the robot. We also need the intersection and combination of multi sciences.It’s the deep meaning of having the research of robot’s football. Although RoboCup is high-tech, only three players’ game, there shows some intricate scene. Such as robot bump the wall, two robots badger with each other, and some robotsare in the daze, don’t con cern about ball. People don’t understand why the robots’intelligence is not as good as the children.That is to say, it is not easy to make robot own the human’s intelligence-sense, thinking, and action, even the three older children. By 2050, scientists want to develop a team of fully autonomous robots, which can win against the human world champion team in soccer. It is a great goal.7 ConclusionsThis thesis discussed some main technologies in MAS and RoboCup. The aim is to let readers know more about Multi Agent System and cause the Agent-oriented technology mature faster.There are four steps in the development of programming: procedure orientedProgramming, module oriented Programming, object oriented Programming and the last step of Agent oriented Programming. Each process is a more and more abstract procedure,a more and more obscure modeling procedure, till in the end reaches to automatic design of programming. Therefore the emergence of Agent-oriented is inevitable for programming.RoboCup is a stage which impulse the research of basic technology in robot. AcknowledgementThis work was supported by the Foundation of Doctor Innovation in China under Grant (xm04-35)8 ReferencesBalch T, Mhybinette (2000), Social Potentials for Scalable Multi-Robot Formation.IEEE International Conf.on Robotics and Automation (ICRA 2000):73-80.Magnus Boman(1999), Agent Programming in RoboCup'99. AgentLink NewsLetter,(4), November 1999.Burkhard H D,et al (2002),The Road to RoboCup 2050. IEEE Robotics &Automation Magazine. Jun. 2002: 31-38.Cai Qing-sheng, Zhang Bo (2003), An agent team reinforcement learning model and its application. (J). Journal of Computer Research and Development.2003,37(9): 1087-1093. In China.Cheng Xian-yi (2003), Agent Computing. Haerbin(China): Hei Longjiang science and technology press. 2003.Cheng Xian-yi et al(2004),.Reinforcement Learning in Simulation RoboCup Soccer.Proceeding of 2004 International Conference on Machine Learning andCybernetics(ICML2004),in China, IEEE Catalog Number:04EX826.Fredrik Heintz (2000), RoboSoc a System for Developing RoboCup Agents for Educational Use. Master's thesis, Department of Computer and InformationScience, Link.oping university, March 2000.Hiroaki Y et al (2001), A Distributed Control Scheme for Multiple Robotic Vehicles to Make Group Forma- tions.Robotics and Autonomous systems,2001, 125 Silvia Coradeschi and Jacek Malec(1999), How to make achallenging AI course .enjoyableusing the RoboCup soccer simulation system. In RoboCup-98:TheSecond RobotWorld Cup Soccer Games and Conference, pages 120{124.Springer verlag, 1999Johan Kummeneje, David Lyb.ack, and H_akan L. Younes (1999), UBU – an objectoriented RoboCup Team. In Johan Kummeneje and Magnus Boman,editors, Int7 1999 Papers. 1999.Johan Kummeneje (1999), Simulated Robotic Soccer and the Use of Sociology in Real Time Mission Critical Systems. In L. R. Welch and M. W. Masters,editors, Proceedings of RTMCS Workshop, IEEE, December 1999。
火电快速甩负荷机组动态仿真建模

2017年2月电工技术学报Vol.32 No. 4 第32卷第4期TRANSACTIONS OF CHINA ELECTROTECHNICAL SOCIETY Feb. 2017火电快速甩负荷机组动态仿真建模廖诗武1曾凯文1姚伟1文劲宇1胡羽川1,2马龙鹏1方家琨1(1. 强电磁工程与新技术国家重点实验室(华中科技大学)武汉 4300742. 国网湖北省电力公司电力科学研究院武汉 430077)摘要快速甩负荷(FCB)技术是一种能够在电网黑启动中发挥关键作用的技术,而FCB机组动态仿真模型是研究FCB技术的基础。
现有常规火电机组模型均无法准确模拟FCB工况的动态特性,为此在分析总结火电机组实现FCB功能所必需的各项技术的基础上,建立了含旁路系统的汽轮机模型以及含FCB功能的原动机调速系统模型,并加入锅炉、电力系统稳定器(PSS)、励磁系统及发电机模型组成含FCB功能的火电机组动态模型。
以台山电厂FCB实验机组为例,通过Matlab/Simulink建立FCB机组的动态仿真模型,其仿真结果与现场实验结果基本一致,说明所建立的FCB机组动态模型能够准确地模拟机组在FCB工况下的动态特性,可为研究FCB机组和大旁路机组及其在电力系统的应用提供模型参考。
关键词:快速甩负荷旁路系统火电机组动态模型中图分类号:TM743Dynamic Model for Thermal Units with Fast Cut Back Function Liao Shiwu1 Zeng Kaiwen1 Yao Wei1 Wen Jinyu1 Hu Yuchuan1,2 Ma Longpeng1 Fang Jiakun1(1. State Key Laboratory of Advanced Electromagnetic Engineering and TechnologyHuazhong University of Science and Technology Wuhan 430074 China2. State Grid Hubei Electric Power Research Institute Wuhan 430077 China)Abstract Fast cut back (FCB) technique plays an important role in power system black-start, and the detailed dynamic model of the FCB thermal unit is the fundamental of the FCB research. However, the current conventional thermal unit model cannot simulate the dynamics of FCB thermal unit accurately. Therefore, after analyzing the required techniques for the FCB function, this paper constructed thermal turbine model with a bypass system and prime mover model integrated a FCB function. After that, the complete dynamic model of FCB thermal units were built, including the turbine, prime mover, boiler, PSS, exciter and generator. A case study is undertaken based on the FCB thermal units in Taishan Power Plant through Matlab/Simulink software. The simulation results are consistent with field test results of the FCB thermal unit, which verify the proposed dynamic model. It can provide references to study FCB thermal units and other large bypass integrated units.Keywords:Fast cut back, bypass system, thermal units, dynamic model0引言近年来,全球发生了多起大面积停电事故,使人民的生产生活遭受了重大损失[1-5]。
二年级我的梦想当一名机器人老师英语作文

二年级我的梦想当一名机器人老师英语作文全文共3篇示例,供读者参考篇1My Dream of Becoming a Robot TeacherEver since I was a little child, I have always been fascinated by robots. Their mechanical movements, their precise calculations, their ability to perform tasks with such efficiency – it all seemed like magic to me. As I grew older, my fascination only deepened, and I knew that I wanted to do something with robots in the future.Now, as a second grader, I have a clear vision of what I want to do when I grow up – I want to become a robot teacher. I want to combine my love for robots with my passion for teaching and make a positive impact on the world.Imagine a classroom where robots are the teachers – they never get tired, they never lose their patience, and they are always available to help students with their lessons. As a robot teacher, I would be able to provide personalized learning experiences for each student, catering to their individual needs and abilities. I could create interactive lessons that make learningfun and engaging, using technology to enhance the educational experience.But being a robot teacher is not just about teaching academic subjects like math and science. It's also about teaching important life skills like kindness, empathy, and perseverance. With my programming skills, I could create lessons that focus on character development and social emotional learning, helping students become well-rounded individuals.Of course, being a robot teacher would not be without its challenges. There would be skeptics who question the effectiveness of robot teachers, who argue that human teachers are irreplaceable. But I believe that with the right training and support, robot teachers can complement human teachers and enhance the learning experience for students.I am determined to turn my dream of becoming a robot teacher into reality. I will work hard in school, study subjects like computer science and engineering, and hone my programming skills so that I can create robots that are not only intelligent but also compassionate. I will seek out opportunities to learn from experts in the field of robotics and education, and I will never give up on my goal.I know that becoming a robot teacher will not be easy, but I am willing to put in the effort and dedication required to achieve my dream. I believe that with perseverance and a positive attitude, anything is possible. And one day, I will proudly stand in front of a classroom full of students, my robot colleagues by my side, and know that I am making a difference in the world.So watch out world, here comes the future robot teacher!篇2My Dream to Become a Robot TeacherI am currently in the second grade and I have a big dream – I want to become a robot teacher when I grow up. I have always been fascinated by robots and I think they are amazing creations.I believe that in the future, robots will play an important role in education and I want to be on the forefront of that innovation.As a robot teacher, I will be able to teach students in a more interactive and engaging way. I will be able to explain difficult concepts in a way that is easy for students to understand. I will be able to customize learning materials based on each student's individual needs and abilities. I will be able to provide instant feedback and suggestions for improvement. In short, I believethat as a robot teacher, I will be able to help students learn better and faster.I also think that being a robot teacher will allow me to reach more students. In today's fast-paced world, many students do not have access to quality education. By becoming a robot teacher, I will be able to teach students from all over the world, regardless of their location or background. I will be able to provide them with the knowledge and skills they need to succeed in life.In addition, I believe that being a robot teacher will also allow me to continue learning and growing. Robots have the ability to constantly update their knowledge and improve their abilities. By being a robot teacher, I will be able to stay at the cutting edge of education and technology. I will be able to learn new teaching methods and techniques, as well as new information and knowledge.Of course, there are still many challenges and obstacles that I will need to overcome in order to achieve my dream of becoming a robot teacher. However, I am confident that with hard work, dedication, and perseverance, I will be able to make my dream a reality. I am excited about the possibilities that thefuture holds and I cannot wait to see where my journey as a robot teacher will take me.In conclusion, my dream of becoming a robot teacher is not just a dream – it is a goal that I am determined to achieve. I believe that by becoming a robot teacher, I will be able to make a positive impact on the lives of students and help shape the future of education. I am excited about the opportunities that lie ahead and I will work hard to make my dream come true.篇3My Dream is to Become a Robot TeacherWhen I grow up, I want to be a robot teacher. I have always been fascinated by robots and the idea of using technology to help people learn. As a robot teacher, I believe I can make a difference in the lives of my students and inspire them to love learning.One of the reasons why I want to become a robot teacher is because robots are efficient and can perform tasks much faster than humans. This means that I can cover more material in a shorter amount of time, allowing my students to learn at a faster pace and achieve better results. In addition, robots can provide personalized feedback to each student based on their individuallearning needs, helping them to improve their performance and reach their full potential.Another reason why I want to become a robot teacher is because robots are always available and never get tired. This means that I can be there for my students whenever they need me, whether it's during the day or at night. My students can also access educational materials and resources through me at any time, allowing them to continue learning and practicing even outside of the classroom.As a robot teacher, I can also create a fun and engaging learning environment for my students. I can use interactive games, quizzes, and activities to make learning more enjoyable and help my students stay motivated and focused. By incorporating technology into my teaching methods, I can also make learning more interactive and hands-on, allowing my students to explore and experiment with different concepts and ideas.I believe that becoming a robot teacher will not only benefit my students, but it will also help me grow and develop as a professional. I will have the opportunity to learn new skills and technologies, collaborate with other educators and experts, and continuously improve my teaching methods and strategies. Byembracing technology and innovation, I can stay ahead of the curve and provide my students with the best possible education.In conclusion, my dream is to become a robot teacher because I believe that technology can revolutionize the way we learn and teach. As a robot teacher, I can inspire and empower my students to reach their full potential, create a dynamic and engaging learning environment, and continue to grow and develop as a professional. I am excited about the possibilities that robotics and artificial intelligence can bring to education, and I am determined to make my dream a reality.。
role play

role playRole Play: Exploring the Benefits, Techniques, and ApplicationsIntroduction:Role play is an interactive and dynamic learning technique that encourages individuals to simulate real-life scenarios and assume specific roles. It is widely used in various fields, including education, professional training, psychotherapy, and even entertainment. This document aims to explore the benefits, techniques, and applications of role play, highlighting its diverse range of uses and its potential as an effective instructional tool.Benefits of Role Play:Role play offers numerous benefits for individuals of all ages and backgrounds. One of its primary advantages is that it enhances active learning and engagement. By actively participating in a scenario and immersing themselves in a different role, individuals gain a deeper understanding of the subject matter. This experiential learning approach promotes critical thinking, problem-solving, and decision-making skills.Additionally, role play fosters effective communication and interpersonal skills. Participants learn how to express their thoughts and opinions clearly, listen actively, and collaborate with others in a simulated environment. Through these interactions, they develop empathy, improve their ability to understand different perspectives, and enhance their conflict resolution skills.Role play also helps individuals develop self-confidence and overcome inhibitions. By embodying a different role, individuals can explore different aspects of their personality and experiment with new behaviors, which can be empowering and liberating. This process allows participants to build self-awareness, boost their self-esteem, and develop their assertiveness.Techniques and Implementation of Role Play:To successfully implement role play, several techniques and considerations can be applied. Firstly, it is essential to establish a clear objective for the role play activity. Whether it is to practice a specific skill, like negotiation or customer service, or to explore emotional responses in a therapeutic setting, the objective will guide the development of the scenario and its desired outcomes.Creating a realistic scenario is another vital aspect of role play. The scenario should be relevant to the participants' context and provide opportunities for them to apply the targeted skills. By integrating realistic elements, such as props or scripted dialogues, the participants can fully immerse themselves in the simulation.It is crucial to establish a supportive and non-judgmental environment for role play. Participants should feel comfortable taking risks, making mistakes, and receiving constructive feedback. Encouraging open communication and debriefing sessions after the role play can help participants reflect on their experiences, discuss challenges, and share insights, enhancing the learning process.Applications of Role Play:Role play finds applications in various fields, showcasing its versatility and effectiveness as an educational tool. In the field of education, role play can be used to teach historical events, complex scientific concepts, and social issues. By assuming the roles of historical figures or scientists, students can step into the shoes of these individuals, enabling them to gain a deeper understanding of the subject matter.In the professional world, role play is commonly used for training purposes. It allows employees to practice job-related skills such as customer service, conflict resolution, or sales techniques in a safe and controlled environment. Role play can also be utilized to simulate real-world scenarios to enhance emergency response or crisis management skills in professions such as healthcare, law enforcement, or aviation.In therapeutic settings, role play is a valuable tool for psychologists, counselors, and therapists. By recreating real-life situations, clients can explore and process their emotions, develop coping mechanisms, and practice new patterns of behavior. Role play can be particularly effective in treating disorders such as social anxiety or post-traumatic stress disorder.Conclusion:Role play is a powerful learning tool that offers numerous benefits across different domains. From enhancing active learning and communication skills to building self-confidence and promoting empathy, its applications are vast and diverse. By understanding the techniques and principles of role play, educators, trainers, and therapists can harness its potential to create impactful and transformative learning experiences. So, whether you are a student, a professional, or someoneseeking personal growth, role play can provide a unique and effective way to develop skills and expand horizons.。
大学英语一等奖说课稿ppt课件

02
Teaching content and methods
Textbook selection and characteristics
01 Select mainstream textbooks such as New Horizon College English
02
Emphasize equal emphasis on language skills and cultural literacy
01
Course background and objectives
The Current Situation of College English Education
The popularization of college English education: With the acceleration of glห้องสมุดไป่ตู้balization, English has become an internationally recognized language, and college English education occupies an important position in the higher education system.
• Ability objective: Students should be able to use English for high-level oral and written expression, possess critical thinking and innovative abilities.
• Role playing and simulation: Arrange students to play different roles for dialogue or situational simulation, to exercise their oral expression and communication skills.
多体动力学和非线性有限元联合仿真
A New Solution For Coupled Simulation Of Multi-Body Systems And Nonlinear Finite Element Models Giancarlo CONTI, Tanguy MERTENS, Tariq SINOKROT(LMS, A Siemens Business)Hiromichi AKAMATSU, Hitoshi KYOGOKU, Koji HATTORI(NISSAN Motor Co., Ltd.)1 IntroductionOne of the most common challenges for flexible multi-body systems is the ability to properly take into account the nonlinear effects that are present in many applications. One particular case where these effects play an important role is the dynamic modeling of twist beam axles in car suspensions: these components, connecting left and right trailing arms and designed in a way that allows for large torsional deformations, cannot be modeled as rigid bodies and represent a critical factor for the correct prediction of the full-vehicle dynamic behavior.The most common methods to represent the flexibility of any part in a multi-body mechanism are based on modal reduction techniques, usually referred to as Component Mode Synthesis (CMS) methods, which predict the deformation of a body starting from a preliminary modal analysis of the corresponding FE mesh. Several different methods have been developed and verified, but most of them can be considered as variations of the same approach based on a limited set of modes of the structure, calculated with the correct boundary conditions at each interface node with the rest of the mechanism, allowing to greatly reduce the size of system’s degrees of freedom from a large number of nodes to a small set of modal participation factors. By properly selecting the number and frequency range of the modes, as well as the boundary conditions at each interface node [1], it is possible to accurately predict the static and dynamic deformation of the flexible body with remarkable improvements in terms of CPU time: this makes these methods the standard approach to reproduce the flexibility of components in a multi-body environment. Still, an important limitation inherently lies in their own foundation: since displacements based on modal representation are by definition linear, any nonlinear phenomena cannot be correctly simulated. For example, large deformations like twist beam torsion during high lateral acceleration cornering maneuvers typically lead to geometric nonlinearities, preventing any linear solution from accurately predicting most of the suspension’s elasto-kinematic characteristics like toe angle variation, wheel center position, vertical stiffness.One possible solution to overcome these limitations while still working with linear modal reduction methods is the sub-structuring technique [2]: the whole flexible body is divided into sub-structures, which are connected by compatibility constraints preventing the relative motion of the nodes that lie between two adjacent sub-structures. Standard component mode synthesis methods are used in formulating the equations of motion, which are written in terms of generalized coordinates and modal participation factors of each sub-structure. The idea behind it is that each sub-portion of the whole flexible structure will undergo smaller deformations, hence remaining in the linear flexibility range. By properly selecting the cutting sections it is usually possible to improve the accuracy of results (at least in terms of nodal displacements: less accuracy can be expected for stress and strain distribution). Another limitation of these methods is the preliminary work needed to re-arrange the FE mesh, although some CAE products already offer automatic processes enabling the user to skip most of the re-meshing tasks and hence reducing the modeling efforts.An alternative approach to simulate the behavior of nonlinear flexible bodies is based on a co-simulation technique that uses a Multi-body System (MBS) solver and an external nonlinear Finite Element Analysis (FEA) solver. Using this technique one can model the flexible body in the external nonlinear FEA code and the rest of the car suspension system in the MBS environment. The loads due to the deformation of the body are calculated externally by the FEA solver and communicated to the MBS solver at designated points where the flexible body connects to the rest of the multi-body system. The MBS solver, on the other hand, calculates displacements and velocities of these points and communicates them to the nonlinear FEA solver to advance the simulation. This approach doesn’t suffer from the limitations that arise from the linear modeling of the flexibility of a body. This leads to more accurate results, albeit at the price of much larger CPU time. In fact, simulation results are strongly affected by the size of the communication time step between the two solvers: a better accuracy (and more stable solver convergence) can be generally obtained by using smaller time steps which require larger calculation times, as shown also in [3].2 Overview of the activityThis paper presents the results of a benchmark activity performed in collaboration with Nissan Auto where a new FE-MBS variable-step co-simulation technique was used: a coupling at the iteration level currently implemented in commercial FEA package LMS SAMCEF Mecano [4] and general purpose multi-body system package LMS b Motion [5]. In this technique each solver uses its own integrator but only one Newton solver is used. In this case one solver is designated as the master and will be responsible for solving the Newton iterations. The coupled iterations continue until both solvers satisfy their own solution tolerances and convergence is achieved. The co-simulation process is organized by means of a supervisor code that manages the data exchange and determines the new time step of integration for both solvers. Further technical details on this “coupled simulation“ method, as well as a comparison with the variable-step co-simulation method, are available in [6].A multi-body model of a rear twist beam suspension has been created, where the flexibility of the twist beam was simulated with three alternative modeling techniques to be compared:- Component Mode Synthesis (Craig-Bampton method)- Linear sub-structuring- Nonlinear FE-MBS coupled simulation.As a further step also the two bushings connecting the twist beam with the car body, originally modeled in b Motion as standard force elements with nonlinear stiffness and damping characteristics for all directions, have been replaced by two SAMCEF Mecano nonlinear flexible bodies.Two different suspension events have been simulated in order to compare the results from the different modeling methods:- Suspension roll (opposite wheel vertical travel applied at wheel centers)- Braking in turn (dynamic loads applied at wheel centers).Figure 1 shows the b Motion suspension model used for this activity, where the FE mesh models of twist beam and bushings are also displayed:3 Modeling and simulations3.1 Model validationAs a first step a multi-body model of rear suspension was created in b Motion with input data provided by Nissan Auto from a pre-existing model developed with another multi-body software package: hardpoints location, bodies mass and inertia data, kinematic and compliant connections characteristics, properties of coil springs, shock absorbers, end stop elements. Since the original model included a flexible twist beam based on a modal reduction method (Craig-Bampton) the same original mode set has been used to obtain a linear flexible representation of the twist beam in b Motion. Then a suspension roll has been simulated in both environments in order to validate Motion results with the data from the source model, obtained by applying a vertical displacement in opposite directions at the two wheel centers. The main elasto-kinematic suspension characteristics have been compared: toe and camber variation, wheel center longitudinal and lateral displacements, vertical stiffness. In fig.2 the vertical force at wheel center and the toe angle variation are plotted versus the wheel vertical displacement: the differences between the two models are negligible.Fig. 1b Motion multi-body model of rear suspension with flexible twist beam and bushings3.2 Flexible twist beam modeling Once validated the b Motion model, the linear flexible twist beam was replaced by the two alternative modeling methods intended to take into account the geometric nonlinearities due to the large deformations of the beam element: sub-structuring and coupled simulation Motion – Mecano.- Sub-structuring: the twist beam was cut in3 sections along the central pipe, resultingin 4 separate linear flexible bodies: the twolongitudinal arms + two symmetric halves ofthe beam. Figure 3 shows the three cuttingsections used.- Coupled simulation Motion – Mecano -starting from the original Nastran FE mesh, the dynamic behavior of the full twist beam is calculated by the SAMCEF Mecano nonlinear solver through a specific Analysis Case added to the VL Motion model.3.3 FE bushings modelingAs a further task of the activity, starting from the CAD representation of the geometry of the bushings connecting the twist beam with the car body a Mecano FE model of each bushing has been created and implemented into the b Motion mechanism to replace the original bushing force elements, modeled as nonlinear stiffness and damping curves in all six directions. Material properties for the rubber and metal parts of the bushings were not known in detail, so tentative values have been used for the rubber whereas the metal parts have been considered as rigid: although these assumptions were expected to have a major impact on results, the main purpose of this task was not to obtain accurate and correlated results, rather to prove the capability of the Motion-Mecano coupled simulation method to successfully solve multiple nonlinear flexible bodies in the same model.3.4 Results comparisonFigure 4 shows the results of the suspension roll analysis for two of the most relevant outputs for the handling performance of a car: toe angle and wheel track variation, plotted vs. left wheel vertical displacement. The main outcome is that sub-structuring and coupled Motion-Mecano simulation (not including FE bushings) give very similar results, both different from the linear case: as expected, the linear approach gives reliable results only in a limited range of displacements, whereas for larger deformations of the twist beam a more accurate prediction of the behavior of the system can be obtained only by considering the nonlinear flexibility of the body.In Fig.5 some of the results from the dynamic braking-in-turn maneuver are displayed, where during a cornering maneuver started at around 0.7s a braking force is applied after 1.5s. In this comparison the additional case with the two nonlinear FE bushings is also displayed: again, a remarkable difference can be detected between the linear case and the nonlinear FE-MBS coupled simulation; furthermore a clear effect from nonlinear FE bushings can be seen, although most likely affected by uncertainties on the material properties applied in the Mecano FE bushing models.Fig. 3 Sub-structuring of the linear flexible twist beam Fig. 2Comparison of results between b Motion model and source MBS model4 ConclusionsIn this paper the usage of a new FE-MBS co-simulation technique for an automotive application is compared with two alternative solutions to represent the nonlinear flexibility of a body in a multi-body mechanism. A b Motion rear suspension model with flexible twist beam has been created with the aim to simulate two typical handling events where the proper prediction of the large deformation of the twist beam strongly affects most of the elasto-kinematic characteristics of the suspension. The compared results show a clear difference between the linear approach, based on a modal representation of the flexibility of the body, and the alternative methods which allow a more correct prediction of the geometric nonlinearity.This new b Motion – SAMCEF Mecano co-simulation technique allows also the simulation of multiple nonlinear flexible bodies in the same mechanisms as shown in this paper. Further studies are currently on-going to extend the usage of this solution to complex applications like flexible contact and friction forces, nonlinear material properties, thermal effects.5 References[1] Yoo W.S., Haug E.J.: “Dynamics of flexible mechanical systems using vibration and static correctionmodes ”, Journal of Mechanisms, Transmissions and Automation in Design, 108, 315-322, 1985[2] Sinokrot T.Z., Nembrini M., Toso A., Prescott W.C.: "A Comparison Of Sub-Structuring Synthesis And TheCosimulation Approach In The Dynamic Simulation Of Flexible Multi-body Systems ", MULTIBODYDYNAMICS 2011, ECCOMAS Thematic Conference, Brussels, Belgium, 4-7 July 2011[3] Sinokrot T.Z., Nembrini M., Toso A., Prescott W.C.: "A Comparison Of Different Multi-body SystemApproaches In The Modeling Of Flexible Twist Beam Axles ", Proceedings of the 8th International Conference on Multi-body Systems, Nonlinear Dynamics, and Control, August 28-31, 2011, Washington D.C., USA[4] LMS International, b Online Help Manual , 2013.[5] LMS Samtech, Samcef Online Help Manual – version 15.1, 2013.[6] Sinokrot T., Jetteur P., Erdelyi H., Cugnon F., Prescott W.: "A New Technique for Stronger Couplingbetween Multi-body System and Nonlinear Finite Element Solvers in Co-simulation Environments ",MULTIBODY DYNAMICS 2013, ECCOMAS Thematic Conference, Zagreb, Croatia, 1-4 July 2013Fig. 4Suspension roll analysis: toe angle and wheel track variationsFig. 5Braking-in-turn analysis: wheel base and toe angle variations。
大涡模拟爆炸国内外综述Large Eddy Simulation of Gas Explosions
Large Eddy Simulation of Gas ExplosionsDi Sarli V.1, Di Benedetto A.1 and Russo G.21Istituto di Ricerche sulla Combustione, Consiglio Nazionale delle Ricerche (CNR), ViaDiocleziano 328, 80124, Napoli, Italy,e-mail: disarli@r.it; dibenede@r.it2Dipartimento di Ingegneria Chimica, Università degli Studi di Napoli Federico II,Piazzale V. Tecchio 80, 80125, Napoli, Italy,e-mail: genrusso@unina.itThis paper reviews the most important advancements obtained by means of Safety Computational Fluid Dynamics (Safety CFD, SCFD) models based on the Large Eddy Simulation (LES) approach in the study of gas explosions at both laboratory and industrial scales.It is pointed out the central role of LES as the most adequate tool for describing the inherently unsteady interplay of flame propagation, flow field and geometry, associated to explosion phenomena. Some issues yet to be addressed are discussed as relevant to fully realize the potential of explosion LES.1.IntroductionGas explosions are complex phenomena involving several spatial and time scales as well as strong gradients of field variables (fluid density, velocity, pressure, temperature and species concentration). In addition, they are characterized by the unsteady interaction between the propagating flame and the turbulence induced by the presence of obstacles in the flame path (vessels, pipes, tanks, flow cross-section variations, instrumentations, etc.). The flame-turbulence interaction may lead to significant increase of flame speed and rate of pressure rise. It also modifies the flame structure. For such features, gas explosions are new phenomena in the field of turbulent combustion modeling. This justifies the development of new tools of Safety Computational Fluid Dynamics (Safety CFD, SCFD) modeling to take into account the dynamic interplay of chemical reaction, transport phenomena, flow field and geometry associated to explosions.Thanks to the growing computational power and the availability of distributed computing algorithms, advanced SCFD models based on Large Eddy Simulation (LES) are emerging as useful methods for predicting and understating gas explosions.LES offers an improved representation of turbulence, and the resulting flame-turbulence interaction, with respect to classical Reynolds-Averaged Navier-Stokes (RANS) approaches. Furthermore, LES captures the inherently unsteady nature of turbulent flows and, hence, of transient combustion phenomena such as explosions.In the following, we review the most important advancements obtained by means of SCFD models based on LES in both the research area and the applicative area. We also discuss some relevant issues yet to be addressed as relevant to fully realize the potential of explosion LES.2.Advancements in Modeling Laboratory Scale ExplosionsSCFD for research should have as main goal to gain insight into the different mechanisms and phenomena coming into play during explosions.SCFD models allow correlating the spatio-temporal evolution of the flame to its speed and the pressure time history. In addition, they allow the artificial suppression of one mechanism/phenomenon at a time, thus drawing conclusions about the relevance of the mechanisms and phenomena involved (Di Benedetto et al., 2005; Ferrara et al., 2006; Di Sarli et al., 2009a; 2009b).In the literature, the SCFD models developed for laboratory scale gas explosions are based on both unsteady RANS (URANS) (see, e.g., Popat et al., 1996; Pritchard et al., 1996; Fairweather et al., 1999; Naamansen et al., 2002; Patel et al., 2002; Di Benedetto et al., 2005; Ferrara et al., 2006) and LES (Kirkpatrick et al., 2003; Masri et al., 2006; Gubba et al., 2008; Di Sarli et al., 2009a; 2009b; Ibrahim et al., 2009) approaches.LES overcomes the difficulties of URANS in capturing features of the flame propagation (steps of acceleration-deceleration around the obstacles, asymmetric shape of the flame, wrinkling of the front, pocket formation) relevant to correctly predict the flame speed and the pressure peak without any ad hoc tuning of model constants and parameters (Patel et al., 2002; Di Sarli et al., 2009a).The LES technique explicitly resolves the large turbulent structures in a flow field (up to the grid dimension), modeling the small structures that, however, exhibit a more universal behavior (Pope, 2000). Unfortunately, chemical reactions in combustion processes occur at characteristic scales that are generally smaller than the affordable mesh resolution. Thus, as in URANS, the LES flame remains a sub-grid phenomenon whose coupling with the unresolved turbulence has to be exclusively modeled (Poinsot and Veynante, 2005). The choice of the sub-grid combustion model is the crucial point for LES of gas explosions.In all the LES-based SCFD models proposed for simulating laboratory scale explosions (Kirkpatrick et al., 2003; Masri et al., 2006; Gubba et al., 2008; Di Sarli et al., 2009a; 2009b; Ibrahim et al., 2009), the flame surface density formalism based on the flamelet concept was chosen and coupled to sub-grid combustion models developed for steady (or quasi-steady) turbulent combustion applications (combustors, burners).In most of these works (Kirkpatrick et al., 2003; Masri et al., 2006; Gubba et al., 2008), the algebraic closure for the sub-grid flame surface density by Boger et al. (1998) was adopted. Although this sub-grid combustion model exhibits a weak dependence of the combustion rate on the unresolved vortices, the results obtained show satisfactory predictions in terms of flame position, structure and interactions with flow and turbulence. The discrepancies found with regard to the pressure trend have been attributed to the sub-grid combustion model implemented. Ibrahim et al. (2009) have obtained more accurate predictions using the dynamic flame surface density formulation by Knikker et al. (2004).In our LES study of unsteady flame propagation around obstacles (Di Sarli et al., 2009a; 2009b), the sub-grid wrinkling factor was treated according to the power-law flame wrinkling model by Charlette et al. (2002). Numerical and experimental results agree well in terms of shape of the propagating flame, flame arrival times, spatial profile of the flame speed, pressure time history, and velocity vector fields ahead of the flame front (Di Sarli et al., 2009a).We also ran large eddy simulations with the sub-grid combustion model eliminated (i.e., by assuming the sub-grid wrinkling factor as constant and equal to unity during the entire propagation) (Di Sarli et al., 2009a). The results obtained demonstrate that the large scale vortices play the dominant role in dictating all trends, including the evolution of the flame structure along the path. Conversely, the sub-grid vortices do not affect the qualitative trends. However, it is essential to model their effects on the combustion rate to achieve quantitative predictions for both flame speed and pressure peak.The methodology of implementing sub-grid combustion models developed for steady turbulent flames in SCFD codes seems to be successful, even if it has yet to be tested under various conditions and, mainly, at different geometry scales.The question of the optimal sub-grid combustion model for explosion LES still remains open. Research effort is required to develop, test and compare sub-grid combustion models according to the criteria of level of description, completeness, cost and ease of use, range of applicability, and accuracy (Pope, 2000).3.Advancements in Modeling Large Scale ExplosionsFor industrial scale explosions, modeling becomes much more important, since large scale experiments are costly and often unpractical.When scaling from laboratory up to industrial scales, two main issues arise.The first issue is related to the need of modeling phenomena which are negligible at laboratory scales and become important at large scales. In large scale enclosures, the flammable gas scarcely becomes uniform (Hirano, 2008). Furthermore, the flame interaction with pressure waves, which increases the flame front wrinkling and corrugation and, thus, the burning velocity, is much stronger at large than at small scales (Kumar et al., 1989; Teerling et al., 2005).The second issue arising in the scale-up is the computational cost. LES needs fine grids, given that the small turbulent structures become independent of the flow and geometry starting from a size equal to around ≈ 10 mm (Pope, 2000). This issue strongly limits the application of LES to large scale explosions.Most of the SCFD models developed for large scale phenomena are based on the URANS approach (see., e.g., Bakke and Hjertager 1986; Hjertager, 1989; 1991; Hjertager et al., 1992; Catlin et al., 1995; Popat et al., 1996; Salzano et al., 2002). Only recently, the LES approach has been proposed for large scale explosions (Makarov and Molkov, 2004; Molkov and Makarov, 2006). In these works, the effects of mixture non-uniformity and flame front-pressure wave interaction were not taken into account. Furthermore, rather coarse grids were employed as a result of a trade-off between the need to apply LES at large scales and the available computational power.In Makarov and Molkov (2004), an LES model of gaseous deflagration in a closed spherical vessel (V≈ 6.5 m3) was developed with the sub-grid wrinkling factor assumedas constant and equal to unity. The grid was adapted to the local gradient of reaction progress variable, providing a finer resolution (average linear size of the adapted grid cell ≈ 35 mm) in the area around the flame front with moderate CPU time. The model reproduces the experimental pressure dynamics with an error smaller than 10 %. In addition, it explicitly resolves the cellular structure of the spherical flame front.Molkov and Makarov (2006) ran LES computations of vented gas explosions in the SOLVEX enclosure (V≈ 550 m3). In these very large eddy simulations, a grid cell dimension of around 0.7 - 0.8 m was chosen. The sub-grid wrinkling factor was assumed as a function of the local turbulent conditions according to the model by Yakhot (1988). The LES model is unable to correctly predict the pressure peak without the introduction of an additional wrinkling factor outside the enclosure, where more intense vortical structures arise.4.ConclusionsIn the field of small scale explosions, LES has shown its superiority with respect to URANS. LES can be seen as a truly predictive tool. On the contrary, URANS is simply an a posteriori descriptive tool: in order to reproduce flame speeds and pressure peaks, it needs experimental data against which to compare and validate numerical results by an ad hoc tuning of model constants/parameters. Therefore, results cannot be extrapolated outside their range of validation.Thanks to the continuous growth of computational power and the development of ever more robust distributed computing algorithms, it can be expected to extend LES to large scale explosions in the near future. This poses a number of challenges for modelers (for example, non-uniformity of the flammable gas, interaction between flame front and pressure waves).In the meantime, since URANS still remains the only feasible methodology for modeling real scale explosions, it should be used with the full awareness of its limitations.ReferencesBakke, J.R., Hjertager, B.H.: The effect of explosion venting in obstructed channels, in: Modelling and Simulation in Engineering, 237-241, Elsevier Science PublisherB.V., North-Holland (1986).Boger, M., Veynante, D., Boughanem, H., Trouvé, A.: Direct numerical simulation analysis of flame surface density concept for large eddy simulation of turbulent premixed combustion. 27th Symp. (Int.) on Combustion, The Combustion Institute, 917-925 (1998).Catlin, C.A., Fairweather, M., Ibrahim, S.S.: Predictions of turbulent, premixed flame propagation in explosion tubes. Combust. Flame 102, 115-128 (1995).Charlette, F., Meneveau, C., Veynante, D.: A power-law flame wrinkling model for LES of premixed turbulent combustion. Part I. Non-dynamic formulation and initial tests. Combust. Flame 131, 159-180 (2002).Di Benedetto, A., Salzano, E., Russo, G.: The mitigation of pressure piling by divergent connections. Process Saf. Prog. 24, 310-315 (2005).Di Sarli, V., Di Benedetto, A., Russo, G., Jarvis, S., Long, E.J., Hargrave, G.K.: Large eddy simulation and PIV measurements of unsteady premixed flames accelerated by obstacles. Flow Turbul. Combust. 83, 227-250 (2009a).Di Sarli, V., Di Benedetto, A., Russo, G.: Using large eddy simulation for understanding vented gas explosions in the presence of obstacles. J. Hazard. Mater.169, 435-442 (2009b).Fairweather, M., Hargrave, G.K., Ibrahim, S.S., Walker, D.G.: Studies of premixed flame propagation in explosion tubes. Combust. Flame 116, 504-518 (1999). Ferrara, G., Di Benedetto, A., Salzano, E., Russo, G.: CFD analysis of gas explosions vented through relief pipes. J. Hazard. Mater. 137, 654-665 (2006).Gubba, S.R., Ibrahim, S.S., Malalasekera, W., Masri, A.R.: LES modeling of premixed deflagrating flames in a small-scale vented explosion chamber with a series of solid obstructions. Combust. Sci. Technol. 180, 1936-1955 (2008).Hirano, T.: Modeling of gas explosion phenomena, in: Progress in Scale Modeling, PartI. Fire and Explosion, 61-73, Springer, Netherlands (2008).Hjertager, B.H., Solberg, T., Nymoen, K.O.: Computer modelling of gas explosion propagation in offshore modules. J. Loss Prev. Process Ind. 5, 165-174 (1992). Hjertager, B.H.: Explosions in offshore modules. Trans. Inst. Chem. Eng. 69(B), 59-72 (1991).Hjertager, B.H.: Simulation of gas explosions. Int. J. Model. Ident. Control 10, 227-247 (1989).Ibrahim, S.S., Gubba, S.R., Masri, A.R., Malalasekera, W.: Calculations of explosion deflagrating flames using a dynamic flame surface density model. Special Issue: CFD Simulations for Explosion Phenomena, J. Loss Prev. Process Ind. 22, 258-264 (2009).Kirkpatrick, M.P., Armfield, S.W., Masri, A.R., Ibrahim, S.S.: Large eddy simulation ofa propagating turbulent premixed flame. Flow Turbul. Combust. 70, 1-19 (2003). Knikker, R., Veynante, D., Meneveau, C.: A dynamic flame surface density model for large eddy simulation of turbulent premixed combustion. Phys. Fluids 16, L91-L94 (2004).Kumar, R.K., Dewit, W.A., Greig, D.R.: Vented explosion of hydrogen-air mixtures ina large volume. Combust. Sci. Technol. 66, 251-266 (1989).Makarov, D.V., Molkov, V.V.: Modeling and large eddy simulation of deflagration dynamics in a closed vessel. Combust. Explos. Shock Waves 40, 136-144 (2004). Masri, A.R., Ibrahim, S.S., Nehzat, N., Green, A.R.: Experimental study of premixed flame propagation over various solid obstructions. Exp. Therm. Fluid Sci. 21, 109-116 (2006).Molkov, V.V., Makarov, D.V.: Rethinking the physics of a large-scale vented explosion and its mitigation. Process Saf. Environ. Protect. 84(B1), 33-39 (2006). Naamansen, P., Baraldi, D., Hjertager, B.H., Solberg, T., Cant, S.: Solution adaptive CFD simulation of premixed flame propagation over various solid obstructions. J.Loss Prev. Process Ind. 15, 189-197 (2002).Patel, S.N.D.H., Jarvis, S., Ibrahim, S.S., Hargrave, G.K.: An experimental and numerical investigation of premixed flame deflagration in a semiconfined explosion chamber. Proc. Combust. Inst. 29, 1849-1854 (2002).Poinsot, T., Veynante, D.: Theoretical and Numerical Combustion (2nd edn.). R.T.Edwards, Philadelphia (2005).Popat, N.R., Catlin, C.A., Arntzen, B.J., Lindstedt, R.P., Hjertager, B.H., Solberg, T., Saeter, O., Van den Berg, A.C.: Investigations to improve and assess the accuracy of computational fluid dynamic based explosion models. J. Hazard. Mater. 45, 1-25 (1996).Pope, S.B.: Turbulent Flows. Cambridge University Press, Cambridge (2000). Pritchard, D.K., Freeman, D.J., Guilbert, P.W.: Prediction of explosion pressures in confined spaces. J. Loss Prev. Process Ind. 9, 205-215 (1996).Salzano, E., Marra, F.S., Russo, G., Lee, J.H.S.: Numerical simulation of turbulent gas flames in tubes. J. Hazard. Mater. 95, 233-247 (2002).Teerling, O.J., McIntosh, A.C., Brindley, J., Tam, V.H.Y.: Premixed flame response to oscillatory pressure waves. Proc. Combust. Inst. 30, 1733-1740 (2005).Yakhot, V.: Propagation velocity of premixed turbulent flames. Combust. Sci. Technol.60, 191-214 (1988).。
足球机械人外文文献原文翻译
足球机械人外文文献原文翻译RoboCup is a Stage which Impulse theResearch of Basic Technology in Robot1 IntroductionRoboCup is an international joint project to promote Artificial Intelligence (AI), robotics, and related field. It is an attempt to foster AI and intelligent robotics research by providing a standard problem where wide range of technologies can be integrated and examined. RoboCup chose to use soccer game as a central topic of research, aiming at innovations to be applied for socially significant problems and industries. The ultimate goal of the RoboCup project is by 2050, develop a team of fully autonomous humanoid robots that can win against the human world champion team in soccer (Fig 1).In order for a robot team to actually perform a soccer game, various technologies must be incorporated including: design principles of autonomous agents, multi-agent collaboration, strategy acquisition, real-time reasoning, robotics, and sensor-fusion.RoboCup is a task for a team of multiple fast-moving robots under a dynamic environment. RoboCup also offers a software platform for research on the software aspects of RoboCup (Burkhard02).One of the major applications of RoboCup technologies is a search and rescue in large scale disaster. RoboCup initiated RoboCup rescue project to specifically promote research in socially significant issues.In the next section we will introduce the origin, organization and leagues of RoboCup.Section 3 we will discuss the relative technology in RoboCup.2 The Origin, Organization and Leagues of RobocupThe concept of RoboCup was first introduced by professor of Alan Mackworth in 1993. The main goal of RoboCup is to propose a challenged research issue to develop robotic. Following a two-year feasibility study, in August 1995, an announcement was made on the introduction of the first international conferences and footballgames.Now RoboCup Soccer is divided into the following leagues: Simulation league(2D,3D), Small-size robot league (f-180), Middle-size robot league (f-2000), Fourlegged robot league, Humanoid league. In July 1997, the first official conference and games were held in Japan. The annual events attracted many participants and spectators.2.1 RoboCup 2D-Simulation LeagueThe RoboCup 2D-simulation league uses a simulator called the Soccer Server to do the soccer simulation. The Soccer Server provides a standard platform for research into multiagent systems. The Soccer Server simulates the players, the ball and the field for a 2D soccer clients (11 for each team) connect to the server, each client controlling a single player. Every 100ms the Soccer Server accepts commands, via socket communication, from each client. The client sends low level commands (dash, turn or kick) to be executed (imperfectly) by the simulated player it is controlling. Clients can only communicate with each other using an unreliable, low bandwidth communication channel built intotheFigure 1. Soccer racing in the futureSoccer Server. The Soccer Server simulates the (imperfect) sensing of the players, sending an abstracted(objects, . players and ball, with direction, distance and relative velocity) interpretation of field of vision to the clients every 150ms. The field of vision of the clients is limited to only a part of the whole field. The Soccer Server enforces most of the basic rules of (human) soccer including off-sides, corner kicks and goal kicks and simulates some basic limitations on players such as maximum running speed, kicking power and stamina limitations (Bom99).An extra client on each team can connect as a “coach”, who can see the whole field and send strategic information to clients when the play is stopped, for example for a free-kick. The Soccer Monitor (Fig 2) connects to the Soccer Server as another client and provides a 2D visualization of the game for a human audience. Other clients can connect in the same way to do things like 3D visualization, automated commentary and statistical analysis.There are no actual robots in this league but spectators can watch the action on a large screen, which looks like a giant computer game. Each simulated robot player may have its own play strategy and characteristic and every simulated team actually consists of a collection of programmers. Many computers are networked together in order for this competition to take place. The games last for about 10 minutes, with each half being 5 minutes duration.Figure 2. RoboCup 2D-Simulation league2. 2 RoboCup 3D-Simulation LeagueThe 3D competition makes use of the simulator that is based on the simulation system introduced at the RoboCup 2003 symposium and the spades simulation middleware system introduced at the RoboCup 2002 symposium. It can be downloaded from source forge (Fig 3). One of the goals for future 3D soccer competitions is to have simulated robots with articulated bodies, for example like humanoid robots. Prior to compiling and installing the rcssserver3D, you need to install a few software packages. You can compile and install rcssserver3D in two different ways, a "light" installation and the full installation. With the full installation, you get an additional library (called kerosin), which is useful to visualize objects nicely, especially articulated objects (this are objects consisting of more than one geometry linked with joints). These features are not (yet) required for the soccer simulation. The light installation, which is the default, you get a not so fancy OpenGL visualization. To enable the full installation, pass the "--enable-kerosin" flag to the `configure' shell script. For the generic installation instructions, see the text below the specific instructions here.Required libraries for the default installation:(1) spades- working versions: , older versions may also work;-get it at: projects/ spades-sim;Figure 3. RoboCup 3D-Simulation league- description: agent middleware, handles timing issues and networking;- additional info: you need a recent version of expat for spades.(2) ruby- working versions: or newer;- get it at: description: scripting language;- additional info: if you compile ruby yourself, configure with enable-shared.(3) boost- working versions: get it at: description: c++ programming extensions.(4) ode- working versions: ;- - get it at: projects/ open- de;- -descriptions: for simulating articulated rigid body dynamics.(5) OpenGL, GLUTYou need the OpenGL and GLUT headers for the visualization. This may be dependent on your graphics card. (GLUT is the OpenGL Utility Toolkit).-part for example of XFree86-Mesa-devel;-you should get it with your linux distro.Small-size Robot LeagueThe field of play must be rectangular. The dimensions include boundary lines. Length: 4900mm, Width:3400 mm. A small-size RoboCup takes place between two teams of five robots each (Fig 4).Figure 4. Small-size robot leagueEach robot must conform to the dimensions as specified in the F180 rules: The robot must fit within a 180mm diameter circle and must be no higher than 15cm unless they use onboard vision. The robots play soccer on a green carpeted field that is long by wide with an orange golf ball. Robots come in two flavors, those with local on-board vision sensors and those with global vision. Global vision robots, by far the most common variety, use an overhead camera and off-field PC to identify and track the robots as they move around the field. The overhead camera is attached to a camera bar located 3m above the playing surface. Local vision robots have their sensing on the robot itself. The vision information is either processed on-board the robot or is transmitted back to the off-field PC for processing. An off-field PC is used to communication referee commands and, in the case of overhead vision, position information to the robots. Typically the off-field PC also performs most, if not all, of the processing required for coordination and control of the robots. Communications is wireless and typically uses dedicated commercial FM transmitter/receiver units although at least one team has used IRDA successfully.Middle Size LeagueTwo teams of 4 mid-sized robots with all sensors on-board play soccer on a field. Relevant objectsare distinguished by colors. Communication among robots (if any) is supported on wirelesscommunications. No external intervention by humans is allowed, except to insert or remove robotsin/from the field.Figure 5. Middle Size League2. 5 The Four-Legged LeagueIn The Four-Legged League, participating teams have to use robots specified by the Competition Committee without any modification on its hardware.In 2004 there are choices of either using:-Sony Entertainment Robot AIBO ERS-210/210A, or-Sony Entertainment Robot AIBO ERS-7, or-A combination of both in the teamThe four main technical issues associated with the SSL are the following:Robust color processing and color tracking. The lighting at tournament halls is very irregular; there are shadows and unpredictable variations during a game. The software has to surmount these difficulties while processing video frames provided by inexpensive cameras. In recent years, most good teams have solved these issues, and we do not see them losing the robots or the ball.Robust mechanical design. A robot able to play at a good level in the SSL must be fast (1-2 m/s maximal speed) and able to resist strong collisions. Typically, SSL robots can fall from a table and continue playing. There has been a new emphasis in mechanical design during the last two years with the introduction of such innovations as omni directional drive (Cornell 2000) and dribbling bars that allow robots to control the ball and pass it (Cornell 2001).Robust wireless communications. This might be considered the single most important unsolved issue in the SSL. Most teams use the same RF chips and this has led to significant interference problems in thepast. Tournaments have become too long because it is very difficult to schedule simultaneous games. A solution such as WaveLan cards or Bluetooth modules will be explored in the future.Good programming of robot behavior. It can be safely said that most teams in the SSL have adopted a pure reactive design with simple strategic goals. The fact that the field of play is too small relative to the size of the robots means that it does not pay to compute too complicated strategies. The horizon of most systems is just a few frames into the future, since the robots are so fast relative to the size of the field. Thus, enlarging the field has to become a major research issue if more sophisticated strategies are to be programmed.Figure 6. 4 legged league Figure 7. Humanoid leagueHumanoid LeagueHumanoid robots show basic skills of soccer players, such as shooting a ball, or defending a goal. Relevant objects are distinguished by colors. External intervention by humans is allowed, as some of the humanoid robots are tele-operated.3 Viewing a Soccer Game as a Multi-Agent EnvironmentA soccer game is a specific but very attractive real time multi-agent environment from the viewpoint of distributed artificial intelligence and multi-agent research. If we regard a soccer team as a multi-agent system, a lot of interesting research issues will arise.In a game, we have two competing teams. Each team has a team-wide common goal, namely to win the game. The goals of the two teams are incompatible. The opponent team can be seen as a dynamic and obstructive environment, which might disturb the achievement of the common team goal. To fulfill the common goal, each team needs to score, which can be seen as a sub-goal. To achieve this subgoals, each team member is required to behave quickly, flexibly, and cooperatively; by taking local and globalsituations into account.The team might have some sorts of global (team-wide) strategies to fulfill the common goal, and both local and global tactics to achieve subgoals. However, consider the following challenges:-the game environment, . the movement of the team members and the opponent team, is highly dynamic. -the perception of each player could be locally limited.-the role of each player can be different.-communication among players is limited; therefore, each agent is required to behave very flexibly and autonomously in real-time under the resource bounded situation.Summarizing these issues, a soccer team can be viewed as a cooperative distributed realtime planning scheme, embedded in a highly dynamic environment. In cooperative distributed planning for common global goals, important tasks include the generation of promising local plans at each agent and coordination of these local plans. The dynamics of the problem space, . the changing rate of goals compared with the performance of each planner, are relatively large, reactive planning that interleaves the plan generation and execution phases is known to be an effective methodology at least for a single agent to deal with these dynamic problems.For cooperative plan schemes, there are frequent changes in the problem space or the observation of each agent is restricted locally. There is a trade-off between communication cost, which is necessary to coordinate the local plans of agents with a global plan, and the accuracy of the global plan (this is known as the predictability/responsiveness tradeoff). The study of the relationship between the communication cost and processing cost concerning the reliability of the hypotheses in FA/C, and the relationship between the modification cost of local plans and the accuracy of a global plan in PGP illustrate this fact. Schemes for reactive cooperative planning in dynamic problem spaces have been proposed and evaluated sometimes based on the pursuit game (predator-prey)(Hiroaki01). However, the pursuit game is a relatively simple game, the environment is basically for the study of a single agent architecture.We see that a robot soccer game will provide a much tougher, fertile, integrated, exciting, and pioneering evaluation environment for distributed artificial intelligence and multiagent research.4 Research Issues for Robocup with Real RobotsIn this section, we discuss several research issues involved in realizing real robots for RoboCup.(1) Design of RoboCup player and their control: Existing robot players have beendesigned to perform mostly single behavior actions, such as pushing/dribbling/rolling. A RoboCup player should be designed so that it can perform multiple subtasks such as shooting (including kicking), dribbling (pushing), passing, heading, and throwing a ball; which often involves the common behavior of avoiding the opponents. Roughly speaking, there are two ways to build RoboCup players:- Design each component separately, which is specialized for a single behavior and then assemble them into one.- Design one or two components that can per form multiple subtasks.Approach 1 seems easier to design but more difficult to build and vice versa. Since the RoboCup player should move around quickly it should be compact; therefore, approach 2 should be a new target for the mechanical design of the RoboCup player. We need compact and powerful actuators with wide dynamic ranges. Also, we have to develop sophisticated control techniques for as few as possible multiple behavior components with low energy consumption. The ultimate goal of a RoboCup player would be a humanoid type, that can run, kick and pass a ball with its legs and feet; can throw a ball with its arms and hands, and can do heading with its head. To build a team of humanoid type robots currently seems impossible.(2) Vision and sensor fusion: Visual information is a rich source of information toperceive, not only the external world, but the effects of the robot's actions as well.Computer Vision researchers have been seeking an accurate 3D geometry reconstructing from 2D visual information, believing in that the 3D geometry is the most powerful and general representation. This could be used in many applications, such as view generation for a video database, robot manipulation and navigation. However, the time-consuming 3D reconstruction may not be necessary nor optimally suited for the task given to the RoboCup player. In order to react to the situation in real time, the RoboCup player quickly needs information to select behavior for the situation, we are not suggesting a specialpurpose vision system, just that the vision is part of a complex system that interacts in specific ways with the world. RoboCup is one of these worlds, which would make clear the role of vision and evaluate the performance of image processing which has been left ambiguous in the computer vision field. In addition to vision, the RoboCup player might need other sensing devices such as: sonar, touch, and force/torque, to discriminate the situations that cannot be discriminated from only the visual information nor covered by visual information. Again, the RoboCup player needs the real time processing for multisensor fusion and integration. Therefore, the deliberative approaches with rough estimation usingmulti-sensor system do not seem suitable. We should develop a method of sensor fusion/integration for the RoboCup.(3) Learning RoboCup behaviors: The individual player has to perform severalbehaviors, one of which is selected depending on the current situation. Sinceprogramming the robot behaviors for all situations, considering the uncertainties insensory data processing and action execution is unfeasible, robot-learning methods seem promising. As a method for robot learning, reinforcement learning has recently been receiving increased attention with little or no a priori knowledge giving higher capability of reactive and adaptive behaviors (Balch00). However, almost all of the existing applications have been done only with computer simulations in a virtual world, real robot applications are very few(Silvia 99). Since the prominence of the reinforcement learning role is largely determined by the extent to which it can be scaled to larger and complex robot learning tasks, the RoboCup seems a very good platform. At the primary stage of the RoboCup tournament, one to one competition seems feasible. Since the player has to take the opponent's motions into consideration, the complexity of the problem is much higher than that of simple shooting without an opponent. To reduce the complexity, task decomposition is often used. Fredrik proposed a method for learning a shooting behavior avoiding a goal keeper (Fredrik00). The shooting and avoiding behaviors are independently acquired and they are coordinated through the learning. Their method still suffers from the huge state space and the perceptual liaising problem, due to the limited visual field. Kum proposed a reactive deliberation approach to the architecture for real time intelligent control in a dynamic environment (Kum99. He applied it to a one to one soccer-like game. Since his method needs global sensing for robot positions inside the field, it does not seem applicable to the RoboCup that allows the sensing capability only through the agents (see the rule section). At the final stage, a many-to-many competition is considered. In this case, collective behaviors should be acquired. Defining all the collective behaviors, as a team seems infeasible, especially, the situations where one of multiple behaviors should be performed. It is difficult to find a simple method for learning these behaviors, definition of social behaviors. A situation would not be defined as the exact positions of all players and a ball, but might be perceived as a pattern. Alternatives, such as"coordination by imitation," should be considered. In addition to the above, the problems related to theRoboCup such as task representation and environment modeling are also challenging ones. Of course, integration of the solutions for the problems mentioned above into a physical entity is the most difficult one.5 Relative Technology in RobocupThe robot football game is taken on by hardware or imitated robot human. The rule is similar to the true human football game. The research of robot football match taken by hardware is concerned with computer, automatic control, sensing technology, wireless communication, precise mechanism, imitated materials and numerous forward-position researches and synthesizes integration. Imitated robot football game is carried on the standard software platform and it fully embodies the technologies of control, communication, sensing and some other aspects. The key points of the researches are some advanced functions, such as cooperation in the system, dynamic decisions, timely plans, the learning of machine and some hot points in the current artificial intelligence. Therefore, in the realm of international artificial intelligence, robot football is regarded as a standard problem in the future 50 years, just as the international chess games between human and computer.The robot football game can do benefit to apply the theories of AI to practice. It also can help to examine the new thoughts, new techniques, and promote the related development of technology. A series of new techniques used by Robot football games will do favor to the development of social economy and culture. Robot football games are not only a kind of front competition with high techniques, but also provide amusement, enjoyment and incentive, which the true game provides. We can anticipate that this activity will produce tremendous market's need and new industrial opportunities, and will bring inestimable utilities of economy and society. The target of the research of RoboCup is to provide a test platform for the distributed system. In a specific way, it includes the research targets as follows:- The posture of robot. Now the robot uses wheel and bedrail, the human player don’t play with it in court. So we must build the robot like human such as gesture,structure and weight.- The body of robot. If the robot is full of iron and plastic, people are afraid of touch in it. So the robot must own the muscle and can collide with people.- The energy of robot. Now the soccer robot’s power is battery, but can only use few minutes. in the future, the soccer robot must run and move in 45-50 minutes, thatmeans the battery must has little volume, the light weight and full of power.- The skill of robot. Now the two-logger robot can move in stair. The best soccer robot is four-legged dog of SONY corporation. After 50 years, the robots must can run, move jump, shoot, dribble like human being. People can do, so the robots can do.- Intelligence of robot. The high level player plays with ball using their brain, so the intelligence of star must high-class. In 1997,IBM’s deep blue beat down Kasparov , but IBM use 16 in the future, the micro computer in soccer robot must very well.- The sense of robot. The sense parts are arranged at will. for example, it can own six eyes, use sonar and wireless communication network, now the tech of sense can not solve the comprehension of image, the power of touch and the function andefficiency of inside sensor. So we must solve these problems.6 The Significance of Researching RobocupThinking carefully, we can suggest more contents and difficult points. We seem to have reasons to deny the imagination of “the battle between human and machine”. Because it is unimaginable to reach such achievement today.But look back to the history, nowadays, there are so many scientific achievements which are unimaginable for the forefathers, aren’t there? People will have an unusual eye on the scientific development in 50 years.It’s about half century from the first plane of which the Wright brothers’ having trial flight to the successful landing on the moon of Aporo airship. While it’s also 50 years from the first computer to comput er of “Deep blue” defeating human genius. Now we can see that we should not say “no” in advance for “the battle between human and machine” about 50 years later.Which we need now is the spirit of innovation, active participation. What we should do is to try our best to improve this process.It’s easy to see that we should innovate more. It contains outstanding progress of artificial life, energy power, material and so on. And it’s also contains the great break of many sciences about the project of mechanics, electricity, control, information and computer which are related to the robot. We also need the intersection and combination of multi sciences.It’s the deep meaning of having the research of robot’s football. Although RoboCup is high-tech,only three players’ game, there shows some intricate scene. Such as robot bump the wall, two robots badger with each other, and some robotsare in the daze, don’t concern about ball. People don’t understand why the robots’intelligence is n ot as good as the children.That is to say, it is not easy to make robot own the human’s intelligence-sense, thinking, and action, even the three older children. By 2050, scientists want to develop a team of fully autonomous robots, which can win against the human world champion team in soccer. It is a great goal.7 ConclusionsThis thesis discussed some main technologies in MAS and RoboCup. The aim is to let readers know more about Multi Agent System and cause the Agent-oriented technology mature faster.There are four steps in the development of programming: procedure orientedProgramming, module oriented Programming, object oriented Programming and the last step of Agent oriented Programming. Each process is a more and more abstract procedure,a more and more obscure modeling procedure, till in the end reaches to automatic design of programming. Therefore the emergence of Agent-oriented is inevitable for programming. RoboCup is a stage which impulse the research of basic technology in robot.AcknowledgementThis work was supported by the Foundation of Doctor Innovation in China under Grant (xm04-35)8 ReferencesBalch T, Mhybinette (2000), Social Potentials for Scalable Multi-Robot Formation.IEEE International Robotics and Automation (ICRA 2000):73-80.Magnus Boman(1999), Agent Programming in RoboCup'99. AgentLink NewsLetter,(4), November 1999.Burkhard H D,et al (2002),The Road to RoboCup 2050. IEEE Robotics &Automation Magazine. Jun. 2002: 31-38.Cai Qing-sheng, Zhang Bo (2003), An agent team reinforcement learning model andits application. (J). Journal of Computer Research and Development.2003,37(9): 1087-1093. In China.Cheng Xian-yi (2003), Agent Computing. Haerbin(China): Hei Longjiang science and technology press. 2003.Cheng Xian-yi et al(2004),.Reinforcement Learning in Simulation RoboCup Soccer.Proceeding of 2004 International Conference on Machine Learning andCybernetics(ICML2004),in China, IEEE Catalog Number:04EX826.Fredrik Heintz (2000), RoboSoc a System for Developing RoboCup Agents for Educational Use. Master's thesis, Department of Computer and InformationScience, university, March 2000.Hiroaki Y et al (2001), A Distributed Control Scheme for Multiple Robotic Vehicles to Make Group Forma- and Autonomous systems,2001, 125 Silvia Coradeschi and Jacek Malec(1999), How to make achallenging AI course.enjoyableusing the RoboCup soccer simulation system. In RoboCup-98:TheSecond RobotWorld Cup Soccer Games and Conference, pages 120{124.Springer verlag, 1999Johan Kummeneje, David , and H_akan L. Younes (1999), UBU – anobjectoriented RoboCup Team. In Johan Kummeneje and Magnus Boman,editors, Int7 1999 Papers. 1999.Johan Kummeneje (1999), Simulated Robotic Soccer and the Use of Sociology in Real Time Mission Critical Systems. In L. R. Welch and M. W. Masters,editors,Proceedings of RTMCS Workshop, IEEE, December 1999。
Role-play in English teaching
On the Role-play in English Language Teaching [ Abstract ] The main aim of English teaching is to culti vate students’ communicative ability in the English language an d the traditional teaching model could not meet this expectatio n. Current ELT ( English language teaching ) methods often ne glect students’ need and fail to provide real world situation for students to practise what they have learned. Especially in oral English teaching and reading teaching, the traditional pedagog y is very boring and inefficient, violating the natural process of language learning. In classroom, teachers should cultivate stu dents and organize the student-centered activity effectively, pro viding more simulated situations for students to practise Englis h. Role-play is a very effective way of cultivating students’ inte rests. Theoretically, it is consistent with many theories; practica lly, it not only arouses students learning enthusiasm, but also gives students a chance to consolidate knowledge by using it. In role-playing, students interact in small group so that they h ave less pressure with enough room of creativity. However, in real practice, it still has some potential problems, and this essa y tries to explore some countermeasures and principles for the se problems.[ Key words ]role-play; ELT; study interests; situation tea ching1. IntroductionThe ultimate goal of foreign language teaching is to enable the students to use the foreign language in work or life when necessary. Thus we should teach that part of the language tha t will be used in the real world. However, this is not always t he case in the present day foreign language teaching practice.“The primary goal of most foreign language learning is to dev elop the ability to use real and appropriate language to comm unicate and interact with others ; and the goal of foreign lang uage teaching is to extend the range of communicative situatio n in which the learners can perform with focus on meaning wi thout being hindered by the attention he must pay to linguistic form”[1]. But the present practice in the ELT classroom in Chi na could not provide satisfactory conditions for both teachers a nd students to achieve the goals. How to let English learners f eel the real language situation and context when learning Engli sh? Role-play is an effective way.2. Some existing problems in ELTThe current teaching methods neglect the real world situa tion and fail to cultivate students’ spontaneity. The wide use of role-play was not accidental. It came from some present educ ational problems.2.1 In teaching spoken English: For years textbooks have b een using dialogues in an attempt to teach spoken language t o foreign language students. Complete sentences are often use d in an attempt to teach students the grammar of the languag e; however, the natural speech of native speakers is often phr ases or sentences fragments full of pauses, false starts, and re petition. The second major problem is the way most dialogues are taught. Teachers ask students to memorize dialogues by heart. Reading or memorizing a printed dialogue does not allo w students to develop “the ability to produce the quick real-ti me responses which are an essential feature of fluency in a co nversational context.”[2]“Practice makes perfect”,as the old sayi ng goes, students should be given opportunities to put into pr actice the skills and knowledge being taught. What can teacher s do to make teaching more effective and communicative? First of all, turn the dialogues into role plays, so the students can pretend they are acting as someone else. Some students become less inhibited about speaking in front of a class when they are acting.2.2In teaching reading: at the post reading stage of readi ng teaching, teachers often rely upon reading aloud, asking co mprehension questions or asking students to paraphrase senten ces of text. Sometimes even sentence by sentence translation i s conducted. We consider these activities inadequate to fulfill t he task of developing learning. Teachers should provide the st udents with opportunities to relate what they have read to wh at they already know or what they feel and enable students to produce language based on what they have learned. So while teaching reading, role-play is also an effective activity.3. Definition“Role-play is an activity (esp. in language teaching or treati ng mentally ill people) in which a person acts a part.”[3]Here we discuss its meaning in pedagogy. It is a common language learning activity where students play different roles and intera ct from the point of view of the roles they play. Role-play is v aluable in a language classroom for several reasons:1) It is motivating;2) Students interact in small groups so that they have le ss pressure;3) Students have the chance to practice the newly learn ed language;4) There is enough room for creativity.4.Theoretical basisRole-play has been used as a tool for teaching in many are as and disciplines. The idea behind using role-play as a pedag ogical tool relies on the idea that experience is the best teach er. Besides, role-play also is consistent with other theories.4.1Behaviourist theory:Behavioural psychologist Skinner sug gested language is a form of behaviour. According to this the ory, all complex forms of behaviour are seen as composed of simple muscular and glandular elements that can be observed and measured. Students thus follow “a certain procedure which has three major stages stimulus,response, and reinforcement”[4]. Role-playing is consistent wi th this theory.4.2Cognitive theory:The term cognitive is often used loosel y to describe method in which students are asked to think rat her than simply repeat. According to Noam Chomsky, language is not a form of behaviour, it is an intricate rule based syste m and a large part of language acquisition is the learning of t his system. There are a finite number of grammatical rules inthe system and with a knowledge of these rules an infinite nu mber of sentences can be produced. Students should be allow ed to create their own sentences based on their understanding of certain rules. So role-play undoubtedly provides students th is kind of chances to exercise creating utterance of their own..4.3Cooperative learning theory:“Cooperative learning is the use of small groups in which pupils work together to maximiz e their own learning when proper organized”.[5]Role-playing is an excellent means of involving students with limited English proficiency. It makes sense for all teachers who have limited E nglish proficient pupils in their classes because all students are given frequent opportunities to speak, thus decreases the stu dents’ dependence of teacher.4.4English curriculum standards:“Linguistic skills, language knowledge, affect and attitudes of students, learning strategies and cultural awareness”[6]are the five goals of ne w curricula innovation processing in present China. The mission of the course is to promote students’ learning interests, make them build up self-confidence, and develop collaborative learni ng ability. To carry out the mission the curriculum highlights st udents’ practice and experiences in the process of language le arning. Among a variety of teaching methods, role-play is oneof the methods that meets all these requirements, making lang uage learning through communication, and enables students to develop language knowledge as well as communicative skills.5Specific stepsRole-play is not easy to manoeuvre. In order to have it process effectively, careful steps should be assured to carry ou t.l Explain the roles and setting up goals.Make sure students understand the task and the goals so t hat they have a clear idea about the incoming performance.l Pairing/ grouping students and assigning roles.Students interact in small groups, and they have less pressu re but they should have clear responsibility. If certain roles did not allotted, too diffuse in responsibility will also spoil the per formance.l Preparation.The whole class students practice the role-play according to the assignment in their own group. As for the task-achieving activity, students playing the same roles go into a group to w ork out the questions, doing the preparation for incoming dem onstration.l Role-play in pairs / groups in front of the class.A way to make the dialogue more similar to real life, yet still controlled enough so that the task is not too difficult for beginning and lower intermediate students, is to use cue cards, like above. This way an information gap is formed beca use each student only see one cue card and doesn’t kn ow whThe outcome of this role-play is not specified. It only sets u p a point of disagreement. How the actors work out the disagr eement and achieve their goals is up to them. Notice that the control of this role-play is much less and thus gives students more practice of thinking and talking in real-time.l “Large-scale simulation activities /drama”[8]For instance:This role-play is very effective in activating the classroom cli mate and it is also of great significance in arousing the studen ts’ interests of learning.l ImprovisationTraditionally, teachers allow students to practise a role play in pairs before asking a few pairs to perform in front of the e ntire class. So when they are performing, they are still not tal king completely spontaneously. One way to force students to s peak spontaneously is to ask the actors to come to the frontAfter students have practiced it in pairs, the teacher can as k them perform it in different moods such as happy, irritated, bored or in different role relationships such as a parent and a child, husband and wife, etc. Thus the students could feel the situation more profoundly with great interests.7 FunctionsRole-play models human interactions to provide a chance for students to exercise, creating effective and memorable experie nces for learners. It places learners in a situation where they are asked to take on different roles and to accomplish their sp ecific tasks, including problem solving. They offer an opportunit y for learners to practice using the language in the right place, at the right time. The strength of role-play is that it presents an opportunity for authentic and spontaneous communicationbecause learners are placed in realistic situations and they can “have the opportunity to use and practice the sort of languag e, particularly the vocabulary related to that situation, so that l earners are rehearsed for real li fe”[9]. In addition, they can exp ress what they want to say whenever the situation calls for it. In addition, role-playing is of great significance as it develops students’ both receptive and productive skills:7.1 It develops students’ listening: while role-playing, stude nts practice listening when trying to get information from their partners.7.2 It develops students’ speaking: answering the question s according to what is heard, producing responses based on gi ven cues, it is clear that this activity can practise speaking skill s.7.3 Promoting knowledge acquisition: “Students in role-play ing were found to use search and retrieval strategies more fre quently than students in traditional learning situations. During t he process of exchanging, there will be the information transfe rring from one peer to the other”[10]. Individual students are a ble to increase their mastery during this process: During the e ntire process, students are motivated to search language in th eir vocabulary storage and select the proper language to use.For example, teaching a reading about a writer’s biography is usually bored and the events that the writer experienced are u neasy for students to master. In this case, after the students r ead and understand the article, the teacher can let a student pretend the writer and stand in front of the class to relate “hi s ” or “her” whole life. Thus promote the students to acquire t he knowledge of the writer with strong motivation.7.4 Enhancing language proficiency: There is another signif icant benefit of doing role-playing. Language is the main tool f or human communication. Role-play largely provides more oppo rtunities for the students to practice their oral English. It is an ideal method of reviewing what we have learned by using it i n re al situation. It stimulates all the students’ integrated skills and thus consolidates all the language knowledge in their mind while trying to express themselves out. While others who do not involved in that activity can be easy to grasp more conten t knowledge even just sitting silently and listening to the perfo rmance in the classroom.7.5 Stimulate students’ interests and activate classroom cli mate to keep students engaged in class: With role play, stude nts act out certain situations. Teachers generally try to make t hese situations fun and interesting. “Asking your boss for a day off”, or “Meeting people at a party”, etc. The teacher prepar es the roles so that learners always have a lot to talk about. This motivates students in learning and creates a real commun ication situation and offers learners plenty of opportunities to p ractice.7.6 Improving social competence: the true mastery of a la nguage involves communicative competence. While role-playing, individuals work together, they must interact with each other to promote each other’s success, thus increase students’ social skills, conflict-management and compromise. It also develops students’ communicative skills: while act out the dialogue, stud ents’ get the chance to learn to get information from partners’facial expressions, gestures and other body language thus dev elop students’ communicative skills.7.7 Promoting interpersonal relationshi ps: Role-play has als o keen accepted to improve interpersonal relationship among st udents. Role-play pairs or groups help students establish and maintain friendships with peers. Students who are isolated or a lienated from their peers and who do not have friends are mo re likely to be at risk for violent or destructive behavior in soci ety than those who experience social support and a sense of belonging. “To some extent, this interpersonal relationship alsopromote their academic achievements. In addition, skills of im proving interpersonal relationship with other peers are the foun dation for the success in their soci al career in future.”[11]Role-playing also has been linked to increases in self-esteem, attend ance, time on task, enjoyment of school and classes, as well a s a decrease in dependence on the teacher.8Potential problemsRole-play is virtually the way we can give students chances to practise improvising a range of real-life spoken language in the classroom, and it is extremely effective if the students are confident and cooperative, but it still exists some problems w hen processing it specifically.l The uneasiness caused by talking in front of the clas s would inhibit the students to some degree. Instructors must do something to lower the inhibition first, for example, a preli minary demonstration or rehearsal before the class. Practice ti me can be prolonged.l “From students’ perspective, because students are us ed to sitting in lecture where they are not required to talk, st udents may resist an activity that appears challenging and diffi cult and that forces them to use integrated skills, rather than being a passive learners”[12]. So teachers should stimulate theirstudents’ enthusiasm by keeping encouragement, coaxing the m to think and open their mouth.l It will be uncontrolled and time-consuming if students fail to prepare enough. In preparation, if certain roles did not allotted, too diffuse in responsibility will also spoil the perform ance.l In China, time is limited in every period class and all the classes are large sized. So it is impossible to provide a c hance for all students to perform. Only a couple of students c ould display their performance. Others just sit in a classroom t o hear and with no pressure, so they may mot pay attention t o learning.l Because of the characteristics, some introvert student s may feel hard to perform in front of the whole class thus in fluence the simulated communication. But teachers could help t hem to overcome step by step.Ur points out that the factors that affect the success of role -play are: “the teacher’s enthusiasm; careful instructions; clear situations and roles; and making sure that the language they will need to carry out the role-play”[13].9Guiding principles for role-playing9.1Communication purpose[14]: The activity must involve the students in performing a real communicative purpose rather th an just practicing language for its own sake. In order for this to occur there must be some kinds of “information gap” that s tudents seek to bridge when they are role-playing.9.2 Communicative desire: The activity must create a desire to communicate in the students .That is even if communicatio n is forced on the students, they must feel a real need to co mmunicate.9.3 Prepare before performing: Rushing into a role play-act ivity often leads to confusion and dissatisfaction. Have students practice the task in pairs before selecting a couple of pairs to perform in front of the whole class. If acting out a short play, before students display their performance, they should be giv en the script or the story they are going to work on. They ca n choose their favorite roles or they will be allotted certain rol es.9.4 Acceptable level language requirement: “The language required in performance should be lower than that used in inte nsive language learning activity in the same class. It should be easily recalled and produced by the participants, so that they can speak f luently”. [15] It is a good idea to teach or review essential vocabulary before the activities start. If the task is too frustrating, the students are likely to give up or revert back to the native language.9.5 Be sensitive when correcting the students: The basic p rinciples of error correction is to remind students of their big e rrors that prevent from communicating and ignore the trivial o ne. As to when and how to give feedback, there is no definite answer, it largely depends on the teachers’ long time spent in teaching and a consideration in affective and cognitive factors. Nevertheless, “the instructors should put it in mind that they should do their best to avoid stifling students’ attempt at spea king in the target language by providing correct feedb ack.”[16]9.6 Clear in responsibility: Allot the roles and set up goals so as to make students clear in responsibility. Students intera ct in small groups, and they have less pressure but they should have clear responsibility.9.7 Praise the actors: The students need lots of support & assistance to practice English. Praise them frequently and the y will be competitive and active.9.8 Choose some proper texts:not all texts to involve role -play activity while teaching. Not all texts suit for role-play acti vity9.9 Choose proper students:The first few times when the teacher organizes role-play, it is a good idea to choose some more outgoing students who will not feel inhibited while perfor ming in public, which is also setting up demonstrations at the same time.10ConclusionIn the student-centered learning process , students are give n more opportunities to practice the target language and devel op their communicative ability. Role-play is one of the most eff ective forms of English training because it puts people into the situation where they have to rely entirely on English to do th eir task/reach the goal that the teacher sets for them. It’s also a chance to be really creative and develop interesting convers ations.In general, role-play is an effective tool for students, especi ally in teaching some introvert students. It enables students to learn by using the target language in meaningful interactive si tuations. Role-play is not easy to manoeuvre, but it helps to le ad to social and academic success for all students.References[1]Littlewood. Communicative Language Teaching[M]. Cambridge University Press 1981. P7[2]Cunningsworth. Evaluating and Selecting ELT Materi als[M]. London: Heinemann 1984. P66[3]Oxford Advanced Learner’s English-Chinese Dictionar y[Z]. Oxford University Press. P1303[4]Harmer. The Practice of English Language Teaching [M].Longman Press1983. P30[5]Jack C. Richards, David Nunan. Second Language T eacher Education[M]. Cambridge University Press. P54 [6]张庆宗. English Teaching Methodology[M].湖南人民出版社2004. P262[7]王蔷. A course in English Language Teaching [Z]. 高等教育出版社2001. P18[8]同上[9]马燕. Communicative Language Teaching in China [J]. 宿州教育学报Vol.7 NO.1 Mar.2004. P101[10]Marr and Mary. The Practice Language Teachi ng [J]. Reading and WritingQuarterly Vol.13 1997. P20[11]王兴扬Cooperative Learning in English Learnin g Classroom[A]中小学英语论坛[C] 河北教育出版社2005. P5[12]肖迎新. The Student-centered Approach[J] 内蒙古师范大学学报Vol.16 No.3 Jun.2003. P107[13]刘书林. 英语教学新概念[M] 中国科学技术大学出版社2004. P133[14]同[7] P19[15]同[13] P180[16]Jo McDonough and Christopher Shaw. Material and Method in ELT [M] Peking University Press2004. P18 2。
- 1、下载文档前请自行甄别文档内容的完整性,平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益,请联系客服反馈,我们会尽快为您处理(人工客服工作时间:9:00-18:30)。
Educational Technology & Society 3(3) 2000 ISSN 1436-4522
190 Dynamic Goal-Based Role-Play Simulation on the Web: A Case Study Som Naidu, PhD Multimedia Education Unit The University of Melbourne, Australia Tel: +61 03 9344 7575 Fax: +61 03 9344 4341 s.naidu@meu.unimelb.edu.au
Albert Ip Digital Learning Systems P/L albert@dls.au.com
Roni Linser Department of Political Science The University of Melbourne, Parkville VIC 3052 Australia ronilins@ariel.ucs.unimelb.edu.au
ABSTRACT This paper outlines and discusses the pedagogical approach, the technical design architecture, and an innovative implementation of a collaborative role-play simulation technology (called the Role-Play Simulation Generator). It also includes summative evaluation data derived from a case study application of this technology. The pedagogical approach of this collaborative learning technology is based on the principles of goal-based learning, and learning by doing in authentic environments where students are allowed the opportunity to acquire the intended learning outcomes by making mistakes in safe environments. The technology used to support this environment is Web-based simulation, which has been custom-designed for generating similar learning environments. This work is the continuing effort of a multidisciplinary team comprising subject matter experts, learning design architects and Web-based tools developers at the University of Melbourne and Digital Learning Systems P/L in Australia. Evaluation data from a case study application of this collaborative learning design has revealed a heightened and a positive disposition among students towards the subject matter content.
Keywords Goal-based learning, Role-play simulation, Role-play simulation generator, Learning environment, Authentic learning, Learning by doing, Reflection-in-action
Introduction The work described in this paper has been partly supported by "The Teaching and Learning Multimedia Educational Technologies Committee" at the University of Melbourne. This project is situated in a subject (World Politics in Transition) in the Political Science Department at the University of Melbourne. Prior to 1997 this subject relied on the conventional approach to teaching and learning which comprised lectures, tutorials and individual research carried out by students. Students were assessed on the basis of a 3,000-word essay and a two-hour exam at the end of the subject. The new approach (for those students who chose to select this option), sought to achieve the same learning outcomes with the help of role-play simulations and collaboration, and the communications and researching capabilities of the Internet. This new "goal-based role-play simulation" on the Web provides a virtual space for students to examine the political processes and theories that are introduced in the lectures.
Theoretical Foundations Our pedagogy is based on the belief that learning is most efficient and effective when it is situated in realistic settings where learners are clear about, not only the reasons for learning but the context or the ecology of their learning environment. This view contrasts with the notion that subject matter can be represented in schemas, stored in memory, and retrieved when needed. Gestalt psychologists, such as Wertheimer, Kohler, and Koffka, argued in favour of the role of insight, perception and reflection in the learning process as opposed to association based primarily on past experience, such as that proposed by Thorndike, Skinner and Pavlov (Bower & Hilgard, 1981). We wanted to create situations that were not only motivating and challenging, but that necessitated the learning of facts, principles and procedures, as well as the cultivation of insight, perception and reflection. To achieve this outcome, we used and improved upon the simulations first developed in the early 1990s by Vincent and Sheppard (Vincent & Sheppard, 1998). This approach can be also described in Schank's terminology as a Goal-Based Scenarios (Schank, 1997) or more accurately as a Dynamic Goal Based Scenario (Linser & Naidu, 1999). A Goal-Based Scenario (GBS) is essentially a simulation in which learners assume a main role, which has associated with it a mission. Their "goal" is to accomplish this mission or task associated with their role(s) in the scenario. In order to achieve this goal the learner needs to acquire particular skills and knowledge. This is where and when the learning takes place. Goals in this context refer to the successful pursuit of the task at hand. A GBS therefore serves both, to motivate learners and also give them the opportunity to "learn by doing". As long as a goal is of inherent interest to learners, and the skills needed to accomplish those goals are the targeted learning outcomes, we have a match and a workable GBS.