首页 > 最新文献

SAIEE Africa Research Journal最新文献

英文 中文
Editors and reviewers 编辑和评审
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-11-01
The publication offers a note of thanks and lists its reviewers.
该出版物提供了一份感谢信,并列出了评审人名单。
{"title":"Editors and reviewers","authors":"","doi":"","DOIUrl":"https://doi.org/","url":null,"abstract":"The publication offers a note of thanks and lists its reviewers.","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 4","pages":"156-156"},"PeriodicalIF":1.4,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9580763/09580765.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68028665","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Faculty development and community of practices: Exploring their interplay to facilitate change in pedagogical practices at HEI's 教师发展和实践社区:探索它们的相互作用,促进高等教育学院教学实践的变革
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-11-01
Rohit Kandakatla;Anurag Palla
The last decade has seen numerous calls from academicians, government agencies, and policy agents to facilitate change in instructional practices in higher education. The calls have encouraged numerous institutions to organize faculty development programs to build the knowledge and skills among faculty and promote large-scale reforms in STEM instruction. Despite many years of efforts by faculty developers and institutions, traditional teaching methods continue to dominate as the primary mode of STEM instruction. In this study, we explore the role of a Community of Practice (CoP) in achieving sustainable change in instructional practices after the completion of the faculty development program in India. A CoP was formed before the start of a 6-week faculty development program on technology-enhanced learning to encourage and build a sense of community among the participants. Qualitative data was collected during the 6-week program to analyze the different ways in which the CoP supported the participants to achieve the outcomes of the faculty development program. Results from the thematic data analysis revealed that the members of the CoP helped each other through the exchange of ideas, clarification of misconceptions, providing feedback, and exchange of knowledge. It was observed that participants with varied prior teaching experience supported each other as they designed and developed course websites (developing tacit knowledge). After the completion of the 6-week program, the participants continued to meet with other members of the CoP to share the experience of how they adopted technology-enhanced learning in their respective courses. The members of the CoP started to exhibit a commitment to the shared vision of technology-enhanced learning. This led to the transformation of the CoP members from participants of a workshop to change agents themselves as they started to conduct additional training programs for the other faculty in the institution.
在过去的十年里,学者、政府机构和政策机构多次呼吁促进高等教育教学实践的变革。这些呼吁鼓励许多机构组织教师发展计划,在教师中培养知识和技能,并推动STEM教学的大规模改革。尽管教师开发人员和机构做出了多年的努力,但传统教学方法仍然是STEM教学的主要模式。在这项研究中,我们探讨了在印度教师发展计划完成后,实践社区(CoP)在实现教学实践可持续变革方面的作用。在为期6周的技术强化学习教师发展计划开始之前,成立了CoP,以鼓励参与者并建立社区意识。在为期6周的项目中收集了定性数据,以分析CoP支持参与者实现教师发展项目成果的不同方式。专题数据分析结果显示,扶贫委员会成员通过交流想法、澄清误解、提供反馈和交流知识相互帮助。据观察,具有不同教学经验的参与者在设计和开发课程网站(开发隐性知识)时相互支持。为期6周的课程结束后,学员继续与扶贫委员会其他成员会面,分享他们如何在各自的课程中采用技术强化学习的经验。扶贫委员会的成员开始表现出对技术强化学习的共同愿景的承诺。这导致了CoP成员从研讨会的参与者转变为变革推动者,他们开始为该机构的其他教员开展额外的培训计划。
{"title":"Faculty development and community of practices: Exploring their interplay to facilitate change in pedagogical practices at HEI's","authors":"Rohit Kandakatla;Anurag Palla","doi":"","DOIUrl":"https://doi.org/","url":null,"abstract":"The last decade has seen numerous calls from academicians, government agencies, and policy agents to facilitate change in instructional practices in higher education. The calls have encouraged numerous institutions to organize faculty development programs to build the knowledge and skills among faculty and promote large-scale reforms in STEM instruction. Despite many years of efforts by faculty developers and institutions, traditional teaching methods continue to dominate as the primary mode of STEM instruction. In this study, we explore the role of a Community of Practice (CoP) in achieving sustainable change in instructional practices after the completion of the faculty development program in India. A CoP was formed before the start of a 6-week faculty development program on technology-enhanced learning to encourage and build a sense of community among the participants. Qualitative data was collected during the 6-week program to analyze the different ways in which the CoP supported the participants to achieve the outcomes of the faculty development program. Results from the thematic data analysis revealed that the members of the CoP helped each other through the exchange of ideas, clarification of misconceptions, providing feedback, and exchange of knowledge. It was observed that participants with varied prior teaching experience supported each other as they designed and developed course websites (developing tacit knowledge). After the completion of the 6-week program, the participants continued to meet with other members of the CoP to share the experience of how they adopted technology-enhanced learning in their respective courses. The members of the CoP started to exhibit a commitment to the shared vision of technology-enhanced learning. This led to the transformation of the CoP members from participants of a workshop to change agents themselves as they started to conduct additional training programs for the other faculty in the institution.","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 4","pages":"207-215"},"PeriodicalIF":1.4,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9580763/09580774.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68025453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
[Back cover] [封底]
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-11-01
Advertisement.
广告
{"title":"[Back cover]","authors":"","doi":"","DOIUrl":"https://doi.org/","url":null,"abstract":"Advertisement.","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 4","pages":"c4-c4"},"PeriodicalIF":1.4,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9580763/09580777.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67864420","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Exploring female enrollment and outcomes in chemical engineering and their experiences in pursuit of a career in STEM 探索女性在化学工程领域的入学人数和成绩,以及她们在STEM职业生涯中的经历
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-11-01
Paula O. V. Henry;Marvette A. Hall;Dianne A. Plummer
The need for more engineers in Jamaica has increased in recent times. Recognizing that females are underrepresented in science, technology, engineering, and mathematics (STEM), more efforts are being made to encourage females to pursue careers in STEM. Although engineering continues to be male dominated, there are a few engineering disciplines with relatively high female participation. Chemical engineering (ChE) is one of these engineering disciplines. In this study, gender differences in enrollment and persistence in ChE, the quality of degree obtained on completion and the job placement of female graduates were investigated. A survey was used to obtain qualitative information on factors that influence females to study ChE, and their gender-related experiences as students and STEM employees. The main findings revealed that females represented 41% of ChE intake, had higher rates of degree completion, were motivated by male role models to pursue engineering, and few females experienced some forms of gender-based discrimination in STEM employment. Based on the study, strategies were suggested to improve the number of females in STEM and to address the issues of gender bias in STEM employment.
近年来,牙买加对更多工程师的需求增加了。认识到女性在科学、技术、工程和数学(STEM)领域的代表性不足,正在做出更多努力鼓励女性从事STEM职业。尽管工程学仍然是男性占主导地位,但也有一些工程学学科的女性参与率相对较高。化学工程就是其中的一门工程学科。在这项研究中,调查了女性毕业生在ChE的入学率和持续性、毕业后获得的学位质量以及工作安排方面的性别差异。一项调查用于获得影响女性学习ChE的因素的定性信息,以及她们作为学生和STEM员工的性别相关经历。主要研究结果显示,女性占ChE录取人数的41%,学位完成率较高,受男性榜样的激励而从事工程,很少有女性在STEM就业中经历过某种形式的性别歧视。根据这项研究,提出了提高STEM女性人数的策略,并解决STEM就业中的性别偏见问题。
{"title":"Exploring female enrollment and outcomes in chemical engineering and their experiences in pursuit of a career in STEM","authors":"Paula O. V. Henry;Marvette A. Hall;Dianne A. Plummer","doi":"","DOIUrl":"https://doi.org/","url":null,"abstract":"The need for more engineers in Jamaica has increased in recent times. Recognizing that females are underrepresented in science, technology, engineering, and mathematics (STEM), more efforts are being made to encourage females to pursue careers in STEM. Although engineering continues to be male dominated, there are a few engineering disciplines with relatively high female participation. Chemical engineering (ChE) is one of these engineering disciplines. In this study, gender differences in enrollment and persistence in ChE, the quality of degree obtained on completion and the job placement of female graduates were investigated. A survey was used to obtain qualitative information on factors that influence females to study ChE, and their gender-related experiences as students and STEM employees. The main findings revealed that females represented 41% of ChE intake, had higher rates of degree completion, were motivated by male role models to pursue engineering, and few females experienced some forms of gender-based discrimination in STEM employment. Based on the study, strategies were suggested to improve the number of females in STEM and to address the issues of gender bias in STEM employment.","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 4","pages":"198-206"},"PeriodicalIF":1.4,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9580763/09580773.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67864424","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of an industry 4.0 competency maturity model 工业4.0能力成熟度模型的开发
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-11-01
Whisper Maisiri;Liezl van Dyk;Rojanette Coetzee
Industry 4.0 (I4.0) transformations in manufacturing industries impact technology, systems, and processes and extend to employees' competency requirements and, consequently, the preparation of graduates who will be ready to practice engineering with professional-level technical know-how and non-technical skills in I4.0. An I4.0 Competency Maturity Model (I4.0CMM) could be used as a tool to assess and guide the development of I4.0 and future skills requirements. This study applied the Delphi technique to evaluate the I4.0CMM's validity and utility, and the improvement thereof, using experts' opinions in two successive rounds. Purposeful sampling was employed to enroll 35 participants. Nineteen experts participated in round one survey, out of which 17 experts participate in round two of the survey. The study used a central tendency statistical tool (the mean) to evaluate expert consensus (mean score > 75%) and used means graphs to present the data. The study results demonstrated the sufficiency and relevance of an I4.0CMM to both academic and industry practitioners. The I4.0CMM could provide a comprehensive competency assessment framework that guides the development of graduate attributes that align with the I4.0 competency requirements in the industry.
制造业的工业4.0(I4.0)变革影响技术、系统和流程,并延伸到员工的能力要求,从而为毕业生做好准备,让他们能够在I4.0中运用专业水平的技术诀窍和非技术技能实践工程。I4.0能力成熟度模型(I4.0CMM)可作为评估和指导I4.0和未来技能需求发展的工具。本研究采用德尔菲技术,利用连续两轮专家的意见,对I4.0CMM的有效性、实用性及其改进进行了评估。采用有目的的抽样方法招募了35名参与者。19名专家参加了第一轮调查,其中17名专家参加第二轮调查。该研究使用了一个中心趋势统计工具(平均值)来评估专家共识(平均得分>75%),并使用平均值图来呈现数据。研究结果证明了I4.0CMM对学术和行业从业者的充分性和相关性。I4.0CMM可以提供一个全面的能力评估框架,指导与行业中I4.0能力要求相一致的毕业生属性的发展。
{"title":"Development of an industry 4.0 competency maturity model","authors":"Whisper Maisiri;Liezl van Dyk;Rojanette Coetzee","doi":"","DOIUrl":"https://doi.org/","url":null,"abstract":"Industry 4.0 (I4.0) transformations in manufacturing industries impact technology, systems, and processes and extend to employees' competency requirements and, consequently, the preparation of graduates who will be ready to practice engineering with professional-level technical know-how and non-technical skills in I4.0. An I4.0 Competency Maturity Model (I4.0CMM) could be used as a tool to assess and guide the development of I4.0 and future skills requirements. This study applied the Delphi technique to evaluate the I4.0CMM's validity and utility, and the improvement thereof, using experts' opinions in two successive rounds. Purposeful sampling was employed to enroll 35 participants. Nineteen experts participated in round one survey, out of which 17 experts participate in round two of the survey. The study used a central tendency statistical tool (the mean) to evaluate expert consensus (mean score > 75%) and used means graphs to present the data. The study results demonstrated the sufficiency and relevance of an I4.0CMM to both academic and industry practitioners. The I4.0CMM could provide a comprehensive competency assessment framework that guides the development of graduate attributes that align with the I4.0 competency requirements in the industry.","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 4","pages":"189-197"},"PeriodicalIF":1.4,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9580763/09580772.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67864423","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
“More than learning”: Teaching and learning ethics within an electrical engineering undergraduate capstone course “不止是学习”:电气工程本科顶尖课程中的教学伦理
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-11-01
Alison J. Gwynne-Evans
How learning is conceptualized and negotiated within the engineering undergraduate curriculum is affected by the theory of learning implicit in the design of the curriculum. The shift to online learning due to restrictions brought about by the COVID-19 pandemic provides the opportunity to make visible aspects of the curriculum that were previously hidden. The paper presents evidence of student learning relating to ethics found in student assignments submitted in partial fulfillment of a capstone course that forms part of the undergraduate program for Electrical Engineering at the University of Cape Town. Evidence of student learning will be linked to three distinct theories of learning that are presented and contrasted as metaphors: a theory of learning that assumes transference and is acquisition-based; a theory of learning that assumes transference by means of participation within a community and a theory of learning that is activity-centered and aims to be transformative. Each of these theories will be linked to particular teaching approaches and assessment strategies. The learning theories provide a frame to examine evidence of student learning relating to ethics in a particular context. This process justifies an expanded conception of learning relating to ethics in engineering.
工程本科课程中学习的概念化和协商方式受到课程设计中隐含的学习理论的影响。由于新冠肺炎疫情带来的限制,向在线学习的转变提供了一个机会,让人们看到以前隐藏的课程。该论文提供了学生在完成开普敦大学电气工程本科生课程的一部分时提交的部分作业中发现的与道德相关的学习证据。学生学习的证据将与三种不同的学习理论联系起来,这三种理论被作为隐喻提出和对比:一种假设迁移和基于习得的学习理论;一种通过参与社区来假设迁移的学习理论,以及一种以活动为中心并旨在变革的学习理论。这些理论中的每一个都将与特定的教学方法和评估策略相联系。学习理论提供了一个框架来检验学生在特定背景下与道德相关的学习证据。这一过程证明了与工程伦理相关的学习概念的扩展是合理的。
{"title":"“More than learning”: Teaching and learning ethics within an electrical engineering undergraduate capstone course","authors":"Alison J. Gwynne-Evans","doi":"","DOIUrl":"https://doi.org/","url":null,"abstract":"How learning is conceptualized and negotiated within the engineering undergraduate curriculum is affected by the theory of learning implicit in the design of the curriculum. The shift to online learning due to restrictions brought about by the COVID-19 pandemic provides the opportunity to make visible aspects of the curriculum that were previously hidden. The paper presents evidence of student learning relating to ethics found in student assignments submitted in partial fulfillment of a capstone course that forms part of the undergraduate program for Electrical Engineering at the University of Cape Town. Evidence of student learning will be linked to three distinct theories of learning that are presented and contrasted as metaphors: a theory of learning that assumes transference and is acquisition-based; a theory of learning that assumes transference by means of participation within a community and a theory of learning that is activity-centered and aims to be transformative. Each of these theories will be linked to particular teaching approaches and assessment strategies. The learning theories provide a frame to examine evidence of student learning relating to ethics in a particular context. This process justifies an expanded conception of learning relating to ethics in engineering.","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 4","pages":"171-180"},"PeriodicalIF":1.4,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9580763/09580770.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67864427","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A spatio-temporal sleep mode approach to improve energy efficiency in small cell DenseNets 一种提高小小区DenseNet能效的时空睡眠模式方法
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-08-13 DOI: 10.23919/SAIEE.2021.9513627
Edwin Mugume;Arthur Tumwesigye;Alexander Muhangi
Data traffic has been increasing exponentially and operators have to upgrade their networks to meet the prevailing demand. This effort entails deploying more base stations (BSs) to meet the increasing traffic. The resulting capital expenditures (CAPEX) and operational expenditures (OPEX) have limited operator revenues. In addition to the energy costs, the associated greenhouse gas emissions have raised environmental concerns. In this paper, we use system-level simulations to investigate different sleep mode mechanisms that can address both capacity and energy efficiency (EE) objectives in dense small cell networks (DenseNets). These sleep mode approaches are applied to a long-term traffic profile that is obtained from real world network traffic. We then design a mechanism that determines the required BS density in response to the variable long-term traffic profile. Our results reveal that significant energy savings are possible when sleep mode mechanisms are applied based on the prevailing traffic in both time and space domains.
数据流量呈指数级增长,运营商不得不升级网络以满足普遍需求。这种努力需要部署更多的基站(BS)来满足日益增长的业务。由此产生的资本支出(CAPEX)和运营支出(OPEX)限制了运营商的收入。除了能源成本,相关的温室气体排放也引发了环境问题。在本文中,我们使用系统级模拟来研究不同的睡眠模式机制,这些机制可以解决密集型小蜂窝网络(DenseNet)中的容量和能效(EE)目标。这些睡眠模式方法被应用于从现实世界的网络流量中获得的长期流量简档。然后,我们设计了一种机制,该机制响应于可变的长期流量分布来确定所需的BS密度。我们的结果表明,当基于时间域和空间域中的主流流量应用睡眠模式机制时,可以显著节省能源。
{"title":"A spatio-temporal sleep mode approach to improve energy efficiency in small cell DenseNets","authors":"Edwin Mugume;Arthur Tumwesigye;Alexander Muhangi","doi":"10.23919/SAIEE.2021.9513627","DOIUrl":"https://doi.org/10.23919/SAIEE.2021.9513627","url":null,"abstract":"Data traffic has been increasing exponentially and operators have to upgrade their networks to meet the prevailing demand. This effort entails deploying more base stations (BSs) to meet the increasing traffic. The resulting capital expenditures (CAPEX) and operational expenditures (OPEX) have limited operator revenues. In addition to the energy costs, the associated greenhouse gas emissions have raised environmental concerns. In this paper, we use system-level simulations to investigate different sleep mode mechanisms that can address both capacity and energy efficiency (EE) objectives in dense small cell networks (DenseNets). These sleep mode approaches are applied to a long-term traffic profile that is obtained from real world network traffic. We then design a mechanism that determines the required BS density in response to the variable long-term traffic profile. Our results reveal that significant energy savings are possible when sleep mode mechanisms are applied based on the prevailing traffic in both time and space domains.","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 3","pages":"134-141"},"PeriodicalIF":1.4,"publicationDate":"2021-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9513622/09513627.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67797005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
On the optimal spine morphology of rapidly accelerating quadrupeds 论快速加速四足动物的最佳脊柱形态
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-08-13 DOI: 10.23919/SAIEE.2021.9513626
Callen Fisher;Amir Patel
Animals exploit spine actuation during rapid locomotion, however this has only recently become a focal point in robotics. Roboticists have used a multitude of spine configurations in their platforms but the optimal design for rapid acceleration and deceleration maneuvers is yet to be discovered. In this paper, we endeavour to find this optimal spine morphology by using large-scale Monte Carlo trajectory optimization simulations on long-time-horizon minimum time problems (start and end at rest while travelling a fixed distance of 30 spine lengths). Broad applicability of the results was ensured by generating 100 sets of robot parameters at random from a carefully selected design space, comparing the performance of the rigid, revolute and prismatic spine morphology. Using bootstrapping techniques, it was determined with a 78.8% probability that the prismatic spine morphology was the optimal spine for these long-time-horizon trajectories. These results will serve as a guide for designers of future, agile quadruped robots.
动物在快速运动过程中利用脊柱驱动,然而这直到最近才成为机器人学的焦点。机器人学家在他们的平台上使用了多种脊椎配置,但快速加速和减速操作的最佳设计尚待发现。在本文中,我们试图通过对长时间范围的最短时间问题(在静止时开始和结束,同时行进30个脊椎长度的固定距离)进行大规模蒙特卡罗轨迹优化模拟来找到这种最佳脊椎形态。通过从精心选择的设计空间中随机生成100组机器人参数,比较刚性、旋转和棱镜脊柱形态的性能,确保了结果的广泛适用性。使用自举技术,以78.8%的概率确定棱镜脊形态是这些长时间范围轨迹的最佳脊。这些结果将为未来敏捷的四足机器人的设计者提供指导。
{"title":"On the optimal spine morphology of rapidly accelerating quadrupeds","authors":"Callen Fisher;Amir Patel","doi":"10.23919/SAIEE.2021.9513626","DOIUrl":"https://doi.org/10.23919/SAIEE.2021.9513626","url":null,"abstract":"Animals exploit spine actuation during rapid locomotion, however this has only recently become a focal point in robotics. Roboticists have used a multitude of spine configurations in their platforms but the optimal design for rapid acceleration and deceleration maneuvers is yet to be discovered. In this paper, we endeavour to find this optimal spine morphology by using large-scale Monte Carlo trajectory optimization simulations on long-time-horizon minimum time problems (start and end at rest while travelling a fixed distance of 30 spine lengths). Broad applicability of the results was ensured by generating 100 sets of robot parameters at random from a carefully selected design space, comparing the performance of the rigid, revolute and prismatic spine morphology. Using bootstrapping techniques, it was determined with a 78.8% probability that the prismatic spine morphology was the optimal spine for these long-time-horizon trajectories. These results will serve as a guide for designers of future, agile quadruped robots.","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 3","pages":"126-133"},"PeriodicalIF":1.4,"publicationDate":"2021-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9513622/09513626.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67798105","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Notes for authors 作者须知
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-08-13 DOI: 10.23919/SAIEE.2021.9513630
{"title":"Notes for authors","authors":"","doi":"10.23919/SAIEE.2021.9513630","DOIUrl":"https://doi.org/10.23919/SAIEE.2021.9513630","url":null,"abstract":"","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 3","pages":"153-153"},"PeriodicalIF":1.4,"publicationDate":"2021-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9513622/09513630.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67797002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
[Back cover] [封底]
IF 1.4 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-08-13 DOI: 10.23919/SAIEE.2021.9513631
Advertisement. Provides contact information the South African Institute for Electrical Engineers (SAIEE).
广告提供南非电气工程师协会(SAIEE)的联系信息。
{"title":"[Back cover]","authors":"","doi":"10.23919/SAIEE.2021.9513631","DOIUrl":"https://doi.org/10.23919/SAIEE.2021.9513631","url":null,"abstract":"Advertisement. Provides contact information the South African Institute for Electrical Engineers (SAIEE).","PeriodicalId":42493,"journal":{"name":"SAIEE Africa Research Journal","volume":"112 3","pages":"C4-c4"},"PeriodicalIF":1.4,"publicationDate":"2021-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/8475037/9513622/09513631.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67957048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
期刊
SAIEE Africa Research Journal
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1