Pali maphunziro ambiri abwino kwambiri padziko lonse lapansi maphunziro a uinjiniya, koma nthawi zambiri maphunziro omwe amamangidwa mozungulira amakhala ndi vuto limodzi lalikulu - kusowa kwa mgwirizano pakati pamitu yosiyanasiyana. Wina angatsutse: zingatheke bwanji izi?
Pamene pulogalamu yophunzitsira ikupangidwa, zofunikira ndi ndondomeko yomveka bwino yomwe maphunzirowa ayenera kuphunziridwa amasonyezedwa pa maphunziro aliwonse. Mwachitsanzo, kuti mupange ndikukonza loboti yachikale, muyenera kudziwa zimango kuti mupange mawonekedwe ake; zofunikira zamagetsi pamlingo wa malamulo a Ohm / Kirchhoff, kuyimira zizindikiro za digito ndi analogi; ntchito ndi ma vectors ndi matrices kuti afotokoze momwe zimayendera ndi kayendedwe ka loboti mumlengalenga; zoyambira zamapulogalamu pamlingo wamafotokozedwe a data, ma aligorivimu osavuta ndi mawonekedwe owongolera, ndi zina. kufotokoza khalidwe.
Kodi zonsezi zimaphimbidwa ndi maphunziro aku yunivesite? Zoonadi. Komabe, ndi malamulo a Ohm/Kirchhoff timapeza thermodynamics ndi field theory; kuwonjezera pa ntchito ndi matrices ndi ma vectors, munthu ayenera kuthana ndi mafomu a Jordan; mu mapulogalamu, phunzirani polymorphism - mitu yomwe siili yofunikira nthawi zonse kuthetsa vuto losavuta lothandiza.
Maphunziro a ku yunivesite ndi ochuluka - wophunzira amapita patsogolo ndipo nthawi zambiri samawona tanthauzo ndi tanthauzo lenileni la chidziwitso chomwe amalandira. Tinaganiza zotembenuza chiphunzitso cha maphunziro a ku yunivesite ku STEM (kuchokera ku mawu akuti Science, Technology, Engineering, Math) ndikupanga pulogalamu yomwe imachokera ku mgwirizano wa chidziwitso, kulola kuwonjezeka kwa kukwanira m'tsogolomu, ndiko kuti, kumatanthauza kukhoza kwambiri kwa maphunziro.
Kuphunzira phunziro latsopano kungayerekezedwe ndi kufufuza malo akumaloko. Ndipo apa pali njira ziwiri: mwina tili ndi mapu atsatanetsatane omwe ali ndi zambiri zomwe zimayenera kuphunziridwa (ndipo izi zimatenga nthawi yochuluka) kuti timvetse komwe zizindikiro zazikulu zilili komanso momwe zimagwirizanirana. ; kapena mutha kugwiritsa ntchito pulani yakale, pomwe mfundo zazikulu zokha ndi malo awo achibale zimawonetsedwa - mapu oterowo ndi okwanira kuti nthawi yomweyo ayambe kuyenda m'njira yoyenera, kufotokozera mwatsatanetsatane momwe mukupita.
Tinayesa njira yophunzirira kwambiri ya STEM pasukulu yachisanu, yomwe tidachita pamodzi ndi ophunzira a MIT mothandizidwa
Kukonzekera zinthu
Gawo loyamba la pulogalamu ya sukuluyi linali sabata la makalasi m'madera akuluakulu, omwe anaphatikizapo algebra, maulendo amagetsi, zomangamanga zamakompyuta, mapulogalamu a Python komanso kulengeza kwa ROS (Robot Operating System).
Mayendedwewo sanasankhidwe mwangozi: kuthandizirana, amayenera kuthandiza ophunzira kuwona kulumikizana pakati pa zinthu zowoneka ngati zosiyana poyang'ana koyamba - masamu, zamagetsi ndi mapulogalamu.
Inde, cholinga chachikulu sichinali kupereka nkhani zambiri, koma kupatsa ophunzira mwayi wogwiritsa ntchito zomwe angopeza kumene pochita.
Mβgawo la algebra, ophunzira ankatha kuyeseza machitidwe a matrix ndi ma equation ma equation, omwe anali othandiza pophunzira mabwalo amagetsi. Ataphunzira za kapangidwe ka transistor ndi zinthu zomveka zomangidwa pamaziko ake, ophunzira amatha kuwona momwe amagwiritsidwira ntchito mu chipangizo cha purosesa, ndipo ataphunzira zoyambira za chilankhulo cha Python, lembani pulogalamu ya loboti yeniyeni mmenemo.
Duckietown
Chimodzi mwa zolinga za sukuluyi chinali kuchepetsa kugwira ntchito ndi oyeserera ngati n'kotheka. Choncho, mabwalo akuluakulu amagetsi adakonzedwa, omwe ophunzira amayenera kusonkhana pa bolodi la mkate kuchokera ku zigawo zenizeni ndikuziyesa muzochita, ndipo Duckietown anasankhidwa kukhala maziko a ntchitozo.
Duckietown ndi pulojekiti yotseguka yophatikiza maloboti ang'onoang'ono odziyimira pawokha otchedwa Duckiebots ndi maukonde amisewu omwe amayendamo. Duckiebot ndi nsanja yamawilo yokhala ndi Microcomputer ya Raspberry Pi ndi kamera imodzi.
Kutengera izi, takonzekera ntchito zomwe tingathe, monga kupanga mapu amsewu, kufunafuna zinthu ndikuyimitsa pafupi nazo, ndi zina zingapo. Ophunzira athanso kufotokozera vuto lawolo osati kungolemba pulogalamu kuti athetse, komanso amayendetsa nthawi yomweyo pa robot yeniyeni.
Kuphunzitsa
Mβnkhaniyo, aphunzitsi anakamba nkhaniyo pogwiritsa ntchito ulaliki wokonzedweratu. Makalasi ena anajambulidwa pavidiyo kuti ana asukulu azionera kunyumba. Pa maphunziro, ophunzira ankagwiritsa ntchito zipangizo pamakompyuta awo, kufunsa mafunso, ndi kuthetsa mavuto pamodzi ndi paokha, nthawi zina pa bolodi. Malingana ndi zotsatira za ntchitoyi, chiwerengero cha wophunzira aliyense chinawerengedwa mosiyana mu maphunziro osiyanasiyana.
Tiyeni tione mwatsatanetsatane kachitidwe ka makalasi mu phunziro lililonse. Phunziro loyamba linali linear algebra. Ophunzira adakhala tsiku limodzi akuphunzira ma vectors ndi matrices, ma equation amzere, ndi zina zambiri. Ntchito zothandiza zidapangidwa molumikizana: mavuto omwe adafunsidwa adathetsedwa payekhapayekha, ndipo mphunzitsi ndi ophunzira ena adapereka ndemanga ndi malangizo.
Mutu wachiwiri ndi magetsi ndi mabwalo osavuta. Ophunzira adaphunzira zofunikira za electrodynamics: magetsi, panopa, kukana, malamulo a Ohm ndi malamulo a Kirchhoff. Ntchito zogwira ntchito zidachitidwa pang'onopang'ono mu simulator kapena kumalizidwa pa bolodi, koma nthawi yochulukirapo idagwiritsidwa ntchito pomanga mabwalo enieni monga mabwalo omveka, mabwalo ozungulira, ndi zina zambiri.
Mutu wotsatira ndi Computer Architecture - mwanjira ina, mlatho wolumikiza physics ndi mapulogalamu. Ophunzira anaphunzira maziko ofunikira, kufunikira kwake komwe kumakhala kongoyerekeza kuposa kuchita. Monga chizolowezi, ophunzira amadzipangira okha masamu a masamu ndi ma logic mu simulator ndipo adalandira mfundo za ntchito zomalizidwa.
Tsiku lachinayi ndi tsiku loyamba la mapulogalamu. Python 2 idasankhidwa kukhala chilankhulo chopangira mapulogalamu chifukwa ndi chomwe chimagwiritsidwa ntchito pamapulogalamu a ROS. Tsikuli linakonzedwa motere: aphunzitsi anapereka nkhanizo, anapereka zitsanzo za kuthetsa mavuto, pamene ophunzira ankamvetsera, atakhala pa makompyuta awo, ndi kubwereza zomwe mphunzitsi analemba pa bolodi kapena slide. Kenaka ophunzirawo anathetsa mavuto ofananawo paokha, ndipo mayankhowo anawunikidwa pambuyo pake ndi aphunzitsi.
Tsiku lachisanu linaperekedwa kwa ROS: anyamatawo adaphunzira za mapulogalamu a robot. Tsiku lonse la sukulu, ana asukulu ankakhala pamakompyuta awo, akumagwiritsira ntchito code code imene mphunzitsiyo anakamba. Anatha kuyendetsa mayunitsi a ROS okha ndipo adadziwitsidwanso za polojekiti ya Duckietown. Kumapeto kwa tsikuli, ophunzirawo anali okonzeka kuyamba gawo la polojekitiyi - kuthetsa mavuto othandiza.
Kufotokozera za ntchito zosankhidwa
Ophunzira adafunsidwa kupanga magulu atatu ndikusankha mutu wa polojekiti. Chifukwa chake, ma projekiti otsatirawa adalandiridwa:
1. Kusintha kwamitundu. Duckiebot imayenera kuwongolera kamera pakasintha zinthu, ndiye kuti pali ntchito yoyeserera yokha. Vuto ndiloti mitundu yamitundu imakhudzidwa kwambiri ndi kuwala. Ophunzira adagwiritsa ntchito zomwe zingawonetse mitundu yofunikira mu chimango (yofiira, yoyera ndi yachikasu) ndi kupanga masinthidwe amtundu uliwonse mumtundu wa HSV.
2. Bakha Taxi. Lingaliro la polojekitiyi ndikuti Duckiebot amatha kuyima pafupi ndi chinthu, kunyamula ndikutsata njira inayake. Bakha wachikasu wonyezimira anasankhidwa kukhala chinthucho.
3. Kupanga chithunzi cha msewu. Pali ntchito yomanga chithunzi cha misewu ndi mphambano. Cholinga cha polojekitiyi ndi kupanga chithunzi cha msewu popanda kupereka chidziwitso cha chilengedwe cha priori ku Duckiebot, kudalira deta ya kamera yokha.
4. Galimoto yoyendera. Ntchitoyi idapangidwa ndi ophunzira okha. Iwo anaganiza zophunzitsa Duckiebot wina, βwolondera,β kuthamangitsa wina, βwophwanya malamulo.β Pachifukwa ichi, njira yozindikiritsa chandamale pogwiritsa ntchito chikhomo cha ArUco idagwiritsidwa ntchito. Chidziwitso chikangotha, chizindikiro chimatumizidwa kwa "wolowerera" kuti amalize ntchitoyi.
Kuyimitsa Mtundu
Cholinga cha pulojekiti ya Colour Calibration chinali kusintha mitundu yozindikirika yodziwika kuti ikhale yowunikira kwatsopano. Popanda kusintha kotereku, kuzindikira kwa mizere yoyimitsa, zolekanitsa misewu ndi malire amisewu kudakhala kolakwika. Ophunzirawo adapereka njira yothetsera vutoli potengera momwe amapangira mawonekedwe amtundu: ofiira, achikasu ndi oyera.
Iliyonse mwa mitundu iyi ili ndi mitundu yosinthira ya HSV kapena RGB. Pogwiritsa ntchito izi, madera onse a chimango chokhala ndi mitundu yoyenera amapezeka, ndipo chachikulu kwambiri chimasankhidwa. Derali limatengedwa ngati mtundu womwe uyenera kukumbukiridwa. Ziwerengero monga kuwerengera tanthauzo ndi kusiyana kokhazikika zimagwiritsidwa ntchito kuyerekezera mtundu watsopano.
Izi zimajambulidwa mu mafayilo a kamera ya Duckiebot ndipo zitha kugwiritsidwa ntchito pambuyo pake. Njira yofotokozedwerayi idagwiritsidwa ntchito pamitundu yonse itatu, pomaliza kupanga mizere yamitundu yonse yolembera.
Mayesero anasonyeza pafupifupi kuzindikira wangwiro cholemba mizere, kupatula ngati zipangizo cholemba ntchito tepi glossy, amene amaonetsa kuwala magwero mwamphamvu kotero kuti kuonera kamera mbali zolembera anaonekera woyera, mosasamala kanthu mtundu wake woyambirira.
Taxi ya Bakha
Ntchito ya Taxi ya Bakha idaphatikizapo kupanga njira yofufuzira munthu wokwera bakha mumzinda, ndikumutengera komwe amafunikira. Ophunzirawo adagawa vutoli m'magulu awiri: kuzindikira ndi kuyenda motsatira graph.
Ophunzira adazindikira bakha poganiza kuti bakha ndi malo aliwonse mu chimango omwe amatha kudziwika kuti ndi achikasu, okhala ndi makona atatu ofiira (mlomo) wake. Malo oterowo akangopezeka pa chimango chotsatira, lobotiyo iyenera kuyandikila pamenepo ndiyeno kuyima kwa masekondi angapo, kuyerekezera kutera kwa wokwera.
Kenaka, pokhala ndi chithunzi cha msewu wa duckietown yonse ndi malo a bot osungidwa pamtima pasadakhale, komanso kulandira kopita monga chothandizira, otenga nawo mbali amamanga njira kuchokera kumalo onyamukira kupita kumalo ofikira, pogwiritsa ntchito algorithm ya Dijkstra kuti apeze njira mu graph. . Zomwe zimatulutsidwa zimaperekedwa ngati gulu la malamulo - kutembenukira panjira iliyonse yotsatirayi.
Zithunzi za Misewu
Cholinga cha polojekitiyi chinali kupanga graph - network ya misewu ku Duckietown. Ma node a graph yomwe imachokera ndi mphambano, ndipo ma arcs ndi misewu. Kuti achite izi, Duckiebot ayenera kufufuza mzindawu ndikuwunika njira yake.
Panthawi yogwira ntchitoyo, lingaliro lopanga graph lolemera lidaganiziridwa, koma kenako linatayidwa, momwe mtengo wapamphepete umatsimikiziridwa ndi mtunda (nthawi yoyenda) pakati pa mphambano. Kukhazikitsidwa kwa lingaliroli kunakhala kovutirapo kwambiri, ndipo kunalibe nthawi yokwanira kuti izi zitheke m'sukulu.
Duckiebot ikafika pa mphambano ina, imasankha msewu wotuluka pamphambano womwe sinatengebe. Pamene misewu yonse pa mphambano zonse yadutsa, mndandanda wopangidwa wa ma adjacence oyandikana nawo amakhalabe m'makumbukidwe a bot, omwe amasinthidwa kukhala chithunzi pogwiritsa ntchito laibulale ya Graphviz.
Ma algorithm opangidwa ndi omwe adatenga nawo gawo sanali oyenera ku Duckietown mwachisawawa, koma adagwira ntchito bwino ku tauni yaying'ono yokhala ndi misewu inayi yomwe imagwiritsidwa ntchito mkati mwasukulu. Lingaliro linali loti muwonjezere cholembera cha ArUco pamzere uliwonse womwe uli ndi chozindikiritsira mphambanoyo kuti muwone momwe mphambanozo zimayendera.
Chithunzi cha algorithm yopangidwa ndi otenga nawo mbali chikuwonetsedwa pachithunzichi.
Patrol Galimoto
Cholinga cha polojekitiyi ndikusaka, kutsatira ndi kusunga bot yomwe ikuphwanya mu mzinda wa Duckietown. Boti yolondera imayenera kuyenda m'mphepete mwamsewu wamzinda, kufunafuna boti yodziwika bwino. Pambuyo pozindikira wolowerera, wolonderayo ayenera kutsatira wolowererayo ndikumukakamiza kuti ayime.
Ntchitoyi idayamba ndikufufuza lingaliro lozindikira bot mu chimango ndikuzindikira wolowamo. Gululi likufuna kukonzekeretsa bot iliyonse mumzindawu ndi cholembera chapadera kumbuyo - monga momwe magalimoto enieni amakhala ndi manambala olembetsa aboma. Zolemba za ArUco zidasankhidwa pachifukwa ichi. Zakhala zikugwiritsidwa ntchito kale ku duckietown chifukwa ndizosavuta kugwira nazo ntchito ndikukulolani kuti muwone komwe cholemberacho chili mumlengalenga komanso kutalika kwake.
Kenako, kunali koyenera kuwonetsetsa kuti boti yolondera imayenda mosamalitsa mubwalo lakunja popanda kuyima pama mphambano. Mwachikhazikitso, Duckiebot imayenda mumsewu ndikuyima poyimitsa. Kenako, mothandizidwa ndi zikwangwani za pamsewu, amasankha masinthidwe a mphambanoyo ndipo amasankha njira yodutsa pamzerewu. Pa gawo lililonse lomwe lafotokozedwa, imodzi mwamagawo a makina ochepera a roboti ndi omwe ali ndi udindo. Kuti achotse maimidwe pamphambano, gululo linasintha makina a boma kotero kuti ikayandikira mzere woyimitsa, botyo idasinthiratu kumalo oyendetsa molunjika pamzerewu.
Chotsatira chinali kuthetsa vuto loyimitsa bot intruder. Gululo lidaganiza kuti bot loyang'anira litha kukhala ndi mwayi wa SSH ku bots iliyonse mumzindawu, ndiko kuti, kukhala ndi chidziwitso chazomwe zilolezo komanso id iliyonse yomwe bot ili nayo. Chifukwa chake, atazindikira wolowererayo, botolo loyang'anira lidayamba kulumikizana kudzera pa SSH kupita ku bot lolowera ndikutseka dongosolo lake.
Pambuyo potsimikizira kuti lamulo lotseka latha, boti yoyang'anira idayimanso.
Algorithm ya opareshoni ya loboti yolondera imatha kuimiridwa ngati chithunzi chotsatirachi:
Kugwira ntchito
Ntchitoyi idakonzedwa m'njira yofanana ndi Scrum: m'mawa uliwonse ophunzira amakonzekera ntchito zamasiku ano, ndipo madzulo amapereka malipoti a ntchito yomwe yachitika.
Pa tsiku loyamba ndi lomaliza, ophunzira ankakonzekera nkhani zofotokoza ntchitoyo komanso mmene angaithetsere. Pofuna kuthandiza ophunzira kutsatira mapulani awo osankhidwa, aphunzitsi ochokera ku Russia ndi America ankapezeka nthawi zonse m'zipinda zomwe ntchito yomangamanga inachitika, kuyankha mafunso. Kulankhulana kunachitika makamaka mu Chingerezi.
Zotsatira ndi ziwonetsero zawo
Ntchitoyi inatha sabata imodzi, kenako ophunzirawo adapereka zotsatira zawo. Aliyense anakonza ulaliki wofotokoza zimene anaphunzira kusukuluyi, mfundo zofunika kwambiri zimene anaphunzira, zimene amakonda kapena zimene sakonda. Zitatha izi, gulu lirilonse linapereka ntchito yake. Magulu onse adagwira ntchito zomwe adapatsidwa.
Gulu lomwe likugwiritsa ntchito kuwongolera mitundu lidamaliza ntchitoyi mwachangu kuposa ena, kotero analinso ndi nthawi yokonzekera zolemba za pulogalamu yawo. Ndipo gulu lomwe likugwira ntchito pa graph yamsewu, ngakhale tsiku lomaliza lisanachitike chiwonetsero cha polojekiti, adayesa kukonza ndikuwongolera ma algorithms awo.
Pomaliza
Nditamaliza sukulu, tidapempha ophunzira kuti aunike zomwe zidachitika m'mbuyomu ndikuyankha mafunso okhudza momwe sukuluyo idakwaniritsira zomwe amayembekeza, maluso omwe adapeza, ndi zina zambiri. Ophunzira onse adazindikira kuti adaphunzira kugwira ntchito limodzi, kugawa ntchito ndikukonza nthawi yawo.
Ophunzira adafunsidwanso kuti aone phindu ndi zovuta za maphunziro omwe adatenga. Ndipo apa magulu awiri oyesa adapangidwa: kwa ena maphunzirowo sanabweretse vuto lalikulu, ena adawayesa ngati ovuta kwambiri.
Izi zikutanthauza kuti sukuluyo yatenga malo oyenera pokhalabe opezeka kwa oyamba kumene mu gawo linalake, komanso kupereka zipangizo zobwerezabwereza ndi kuphatikizika ndi ophunzira odziwa zambiri. Tiyenera kuzindikira kuti maphunziro a mapulogalamu (Python) adadziwika ndi pafupifupi aliyense ngati wosavuta koma wothandiza. Malingana ndi ophunzira, maphunziro ovuta kwambiri anali "Computer Architecture".
Ophunzira atafunsidwa za mphamvu ndi zofooka za sukulu, ambiri adayankha kuti amakonda kaphunzitsidwe kosankhidwa, momwe aphunzitsi amapereka chithandizo chachangu ndi chaumwini ndikuyankha mafunso.
Ophunzira adawonanso kuti amakonda kugwira ntchito m'njira yokonzekera ntchito zawo zatsiku ndi tsiku ndikudziikira nthawi yawoyawo. Monga zovuta, ophunzira adawona kusowa kwa chidziwitso choperekedwa, chomwe chinafunika pogwira ntchito ndi bot: pogwirizanitsa, kumvetsetsa zofunikira ndi mfundo za ntchito yake.
Pafupifupi ophunzira onse adawona kuti sukuluyo idapitilira zomwe amayembekeza, ndipo izi zikuwonetsa njira yoyenera yokonzekera sukulu. Motero, mfundo zachisawawa ziyenera kusungidwa pokonzekera sukulu yotsatira, polingalira ndipo, ngati kuli kotheka, kuchotsa zophophonya zowonedwa ndi ophunzira ndi aphunzitsi, mwinamwake kusintha ndandanda ya maphunziro kapena nthaΕ΅i ya kuphunzitsa kwawo.
Olemba nkhani: gulu Π²
PS Blog yathu yamakampani ili ndi dzina latsopano. Tsopano idzaperekedwa kumapulojekiti ophunzitsa a JetBrains.
Source: www.habr.com