Kune akawanda makosi akanakisa munyika yedzidzo yeinjiniya, asi kazhinji kosi yakavakirwa pavari inotambura nekukanganisa kumwe kwakakomba - kushaikwa kwekubatana kwakanaka pakati pemisoro yakasiyana-siyana. Mumwe angapikisa: izvi zvingave sei?
Kana chirongwa chekudzidzisa chiri kuumbwa, zvinodikanwa uye kurongeka kwakajeka umo dzidziso dzinofanirwa kudzidzwa zvinoratidzwa kune yega yega kosi. Semuyenzaniso, kuti uvake uye kuronga primitive mobile robhoti, unofanira kuziva diki makanika kuti ugadzire chimiro chayo chemuviri; nheyo dzemagetsi pamwero wemitemo yeOhm / Kirchhoff, inomiririra zviratidzo zve digital uye analog; mashandiro nemavekita uye matrices kuitira kutsanangura kurongeka masisitimu uye mafambiro erobhoti muchadenga; basics of programming padanho rekuratidzwa kwedata, simple algorithms uye control transfer zvimiro, nezvimwe. kutsanangura maitiro.
Izvi zvese zvinofukidzwa mumakosi emayunivhesiti here? Chokwadi vadaro. Zvisinei, nemitemo yeOhm/Kirchhoff tinowana thermodynamics uye theory field; kunze kwekushanda nematrices uye vectors, munhu anofanirwa kubata neJoridhani mafomu; mukuronga, kudzidza polymorphism - misoro isingagarodiwa kugadzirisa dambudziko riri nyore rinoshanda.
Dzidzo yekuyunivhesiti yakakura - mudzidzi anoenderera mberi uye kazhinji haaoni zvinoreva uye kukosha kweruzivo rwaanowana. Takasarudza kushandura paradigm yedzidzo yeyunivhesiti mu STEM (kubva pamashoko eScience, Technology, Engineering, Math) uye kugadzira purogiramu inobva pakubatana kwezivo, zvichibvumira kuwedzera kwekukwana mune ramangwana, kureva, iyo. zvinoreva kugona kwakanyanya kwezvidzidzo.
Kudzidza chidzidzo chitsva kunogona kufananidzwa nekuongorora nzvimbo yemunharaunda. Uye pano pane sarudzo mbiri: kungave isu tine mepu yakadzama ine huwandu hukuru hwezvinhu zvinoda kudzidzwa (uye izvi zvinotora nguva yakawanda) kuti tinzwisise kuti nzvimbo huru dziripi uye kuti dzinodyidzana sei kune imwe neimwe. ; kana kuti iwe unogona kushandisa chirongwa chekare, icho chete mapoinzi makuru uye nzvimbo dzawo dzehukama - mepu yakadaro inokwana kuti utange kufamba nenzira kwayo, uchijekesa izvo zvaunoenda.
Takaedza nzira yakasimba yekudzidza STEM pachikoro chechando, chatakaita pamwe chete nevadzidzi veMIT nerutsigiro rwe
Kugadzirira zvinhu
Chikamu chekutanga chepurogiramu yechikoro chaiva vhiki yemakirasi munzvimbo huru, iyo yaisanganisira algebra, magetsi emagetsi, magadzirirwo emakombiyuta, Python programming uye sumo kuROS (Robot Operating System).
Mafambiro aya haana kusarudzwa netsaona: kuzadzisana, aifanirwa kubatsira vadzidzi kuona kubatana pakati pezvinhu zvinoita senge zvakasiyana pakutanga kuona - masvomhu, zvemagetsi uye zvirongwa.
Zvechokwadi, chinangwa chikuru chakanga chisiri chekupa hurukuro dzakawanda, asi kupa vadzidzi mukana wekushandisa ruzivo ruchangobva kuwanikwa ivo pachavo mukuita.
Muchikamu chealgebra, vadzidzi vaigona kudzidzira matrix mashandiro uye kugadzirisa masisitimu equation, ayo aibatsira mukudzidza matunhu emagetsi. Sezvo vadzidza nezve chimiro che transistor uye zvinhu zvine musoro zvakavakwa pahwaro hwayo, vadzidzi vaigona kuona kushandiswa kwavo mugadziriso mudziyo, uye mushure mekudzidza izvo zvekutanga zvemutauro wePython, nyora chirongwa cherobhoti chaiyo mairi.
Duckietown
Chimwe chezvinangwa zvechikoro chacho chaiva chokuderedza kushanda nemasimudzira pazvinobvira. Naizvozvo, seti yakakura yemaseketi emagetsi akagadzirwa, ayo vadzidzi vaifanira kuungana pabhodhi rekudya kubva kune chaiwo zvikamu uye vozviedza mukuita, uye Duckietown yakasarudzwa sehwaro hwemapurojekiti.
Duckietown ipurojekiti yakavhurika-sosi inosanganisira marobhoti madiki anozvimiririra anonzi Duckiebots uye network yemigwagwa yavanofamba nayo. Duckiebot ipuratifomu ine mavhiri yakashongedzerwa neRaspberry Pi microcomputer uye imwe kamera.
Kubva pazviri, takagadzirira seti yezvinogona kuita, sekuvaka mepu yemugwagwa, kutsvaga zvinhu uye kumira padivi pazvo, uye akati wandei. Vadzidzi vaigonawo kutaura dambudziko ravo uye kwete kungonyora chirongwa chekugadzirisa, asi zvakare nekuchimhanyisa parobhoti chaiyo.
Kudzidzisa
Mukati mehurukuro, vadzidzisi vakapa mashoko acho vachishandisa mharidzo dzakafanogadzirirwa. Mamwe makirasi akarekodhwa pavhidhiyo kuitira kuti vadzidzi vaaone vari kumba. Panguva yezvidzidzo, vadzidzi vaishandisa zvinhu pamakomputa avo, kubvunza mibvunzo, uye kugadzirisa matambudziko pamwechete uye vakazvimirira, dzimwe nguva pabhodhi. Zvichienderana nemhedzisiro yebasa, kuyerwa kwemudzidzi wega wega kwakaverengerwa zvakasiyana muzvidzidzo zvakasiyana.
Ngatitarisei maitirwo emakirasi muchidzidzo chimwe nechimwe zvakadzama. Chidzidzo chekutanga chaive mutsara algebra. Vadzidzi vakapedza zuva rimwe chete vachidzidza mavectors uye matrices, masisitimu emutsetse equation, nezvimwe. Mabasa anoshanda akarongwa achipindirana: matambudziko akatsanangurwa akagadziriswa ega, uye mudzidzisi nevamwe vadzidzi vakapa mhinduro uye matipi.
Chidzidzo chechipiri magetsi uye masekete ari nyore. Vadzidzi vakadzidza izvo zvekutanga zve electrodynamics: voltage, ikozvino, kuramba, Ohm mutemo uye Kirchhoff mitemo. Mabasa anoshanda pamwe akaitwa musimulator kana kupedzwa pabhodhi, asi nguva yakawanda yakapedzwa kuvaka masekete chaiwo senge logic maseketi, oscillating maseketi, nezvimwe.
Musoro unotevera ndeweComputer Architecture - neimwe nzira, bhiriji rinobatanidza fizikisi uye hurongwa. Vadzidzi vakadzidza hwaro hwakakosha, kukosha kwahwo kunonyanya kufungidzira pane kuita. Sekuita, vadzidzi vakazvimiririra vakagadzira arithmetic uye logic maseketi mune simulator uye vakagamuchira mapoinzi emabasa apera.
Zuva rechina ndiro zuva rokutanga repurogiramu. Python 2 yakasarudzwa semutauro wekuronga nekuti ndiyo inoshandiswa muROS programming. Zuva iri rakarongwa sezvizvi: vadzidzisi vakapa zvinyorwa, vakapa mienzaniso yekugadzirisa matambudziko, apo vadzidzi vaiteerera kwavari, vakagara pamakombiyuta avo, uye vakadzokorora zvakanyorwa nemudzidzisi pabhodhi kana masiraidhi. Ipapo vadzidzi vakagadzirisa matambudziko akafanana vari voga, uye mhinduro dzakazoongororwa nevadzidzisi.
Zuva rechishanu rakatsaurirwa kuROS: vakomana vakadzidza nezve robot programming. Zuva rose rechikoro, vadzidzi vakagara pamakombiyuta avo, vachishandisa purogiramu yepurogiramu yaitaurwa nemudzidzisi. Vakakwanisa kumhanyisa zvikamu zveROS vari voga uye vakaunzwawo kuchirongwa cheDuckietown. Pakupera kwezuva iri, vadzidzi vakagadzirira kutanga chikamu chepurojekiti chechikoro - kugadzirisa matambudziko anoshanda.
Tsanangudzo yemapurojekiti akasarudzwa
Vadzidzi vakakumbirwa kuti vaumbe zvikwata zvevatatu uye vasarudze musoro weprojekiti. Nekuda kweizvozvo, mapurojekiti anotevera akagamuchirwa:
1. Kugadziriswa kwemavara. Duckiebot inoda kuenzanisa kamera kana mamiriro emwenje achinja, saka pane otomatiki calibration basa. Dambudziko nderokuti mavara emhando anonyanya kukoshesa chiedza. Vatori vechikamu vakaita chishandiso chaizoratidza mavara anodiwa mufuremu (tsvuku, chena uye yero) uye kuvaka marenji eruvara rega rega muHSV fomati.
2. Dhadha Taxi. Pfungwa yeiyi purojekiti ndeyekuti Duckiebot inogona kumira padyo nechinhu, oitora uye otevera imwe nzira. Dhadha reyero rakajeka rakasarudzwa sechinhu chacho.
3. Kuvakwa kwegirafu yemugwagwa. Pane basa rekugadzira girafu yemigwagwa uye mharadzano. Chinangwa chepurojekiti iyi kugadzira girafu yemugwagwa pasina kupa preori data yezvakatipoteredza kuDuckiebot, ichivimba chete nedata rekhamera.
4. Patrol motokari. Chirongwa ichi chakagadzirwa nevadzidzi pachavo. Vakakarakadza kudzidzisa mumwe Duckiebot, βpatrol,β kudzingirira mumwe, βanotyora mutemo.β Nechinangwa ichi, nzira yekuzivikanwa kwechinangwa uchishandisa ArUco marker yakashandiswa. Pakangopera kucherechedzwa, chiratidzo chinotumirwa kune "mupindiri" kuti apedze basa.
Ruvara Calibration
Chinangwa chepurojekiti yeColor Calibration yaive yekugadzirisa huwandu hwemavara anocherechedzwa ekumaka kune mamiriro matsva ekuvhenekesa. Pasina zvigadziriso zvakadaro, kucherechedzwa kwemitsara yekumisa, kuparadzanisa nzira uye miganhu yemigwagwa kwakava zvisirizvo. Vatori vechikamu vakapa mhinduro yakavakirwa pane preprocessing markup color mapatani: tsvuku, yero uye chena.
Imwe neimwe yemavara aya ine preset huwandu hweHSV kana RGB kukosha. Uchishandisa chiyero ichi, nzvimbo dzese dzechimiro chine mavara akakodzera dzinowanikwa, uye yakakura inosarudzwa. Iyi nzvimbo inotorwa seruvara runoda kurangarirwa. Mafomula echiverengero akadai sekuverenga zvinoreva uye kutsauswa kwakajairwa anobva ashandiswa kufungidzira rudzi rutsva rweruvara.
Rudzi urwu rwakarekodhwa muDuckiebot's kamera yekumisikidza mafaera uye inogona kushandiswa gare gare. Iyo yakatsanangurwa nzira yakashandiswa kune ese matatu mavara, pakupedzisira achigadzira mitsara kune imwe neimwe yemarkup mavara.
Miedzo yakaratidza kucherechedzwa kunenge kwakanyatso kucherechedzwa kwemitsara yekumaka, kunze kwezviitiko apo zvinhu zvekumaka zvakashandiswa tepi inopenya, inotaridza magwenzi emwenje zvine simba zvekuti kubva pakona yekuona kamera maratidziro aionekwa akachena, zvisinei neruvara rwayo rwekutanga.
Dhadha Taxi
Iyo Duck Taxi purojekiti yaisanganisira kugadzira algorithm yekutsvaga mutakuri wedhadha muguta, uye wozoiendesa kunzvimbo inodiwa. Vatori vechikamu vakakamura dambudziko iri kuita maviri: kuona uye kufamba pamwe chete negirafu.
Vadzidzi vakaita zvekuona dhadha nekuita fungidziro yekuti dhadha inzvimbo ipi neipi mufuremu inogona kuzivikanwa seyero, ine gonyo dzvuku (muromo) pariri. Panongoonekwa nzvimbo yakadai mufuremu inotevera, robhoti rinofanira kusvika pairi robva ramira kwemasekonzi mashoma, richitevedzera kumhara kwemufambi.
Zvadaro, kuve negirafu yemugwagwa weiyo duckietown yese uye nzvimbo yebhoti yakachengetwa mundangariro pachine nguva, uye zvakare kugamuchira kwainoenda sekupinza, vatori vechikamu vanovaka nzira kubva kunzvimbo yekusimuka kuenda kunzvimbo yekusvika, vachishandisa Dijkstra's algorithm kuwana nzira mugirafu. . Iyo inobuda inounzwa seti yemirairo - inotendeuka pane imwe neimwe yeinotevera mharadzano.
Grafu yeMigwagwa
Chinangwa chechirongwa ichi chaive chekugadzira girafu - network yemigwagwa muDuckietown. Manodhi eiyo girafu inokonzeresa mharadzano, uye arcs migwagwa. Kuti uite izvi, Duckiebot inofanirwa kuongorora guta uye kuongorora nzira yaro.
Munguva yebasa repurojekiti, pfungwa yekugadzira girafu inorema yakatariswa, asi ndokuraswa, umo mutengo wemupendero unotarwa nechinhambwe (nguva yekufamba) pakati pemharadzano. Kuzadzikiswa kweiyi pfungwa kwakave kwakanyanyisa basa, uye pakanga pasina nguva yakakwana yekuti mukati mechikoro.
Duckiebot painosvika pamharadzano inotevera, inosarudza mugwagwa unobuda pamharadzano iyo isati yatora. Kana migwagwa yese pamharadzano dzese dzapfuura, iyo inogadzirwa rondedzero yemharadzano yekumisikidza inoramba iri mundangariro yebhoti, iyo inoshandurwa kuita mufananidzo uchishandisa raibhurari yeGraphviz.
Iyo algorithm yakatsanangurwa nevatori vechikamu yakanga isina kukodzera duckietown isina kurongeka, asi yakashanda zvakanaka kudhorobha diki rematanho mana anoshandiswa mukati mechikoro. Pfungwa yaive yekuwedzera mucherechedzo weArUco pamharadzano yega yega ine chiziviso chemharadzano kuronda marongero aifambiswa nemharadzano.
Dhiagiramu yealgorithm yakagadzirwa nevatori vechikamu inoratidzwa mumufananidzo.
Patrol Mota
Chinangwa chechirongwa ichi ndechekutsvaga, kutsvaga uye kuchengetedza bot inotyora muguta reDuckietown. Patrol bot inofanirwa kufamba nemhete yekunze yemugwagwa weguta, ichitsvaga inozivikanwa intruder bot. Mushure mekuona munhu apinda, bhoti repatrol rinofanira kutevera mupambi uye kumumanikidza kuti amire.
Basa rakatanga nekutsvaga zano rekuona bhoti mufuremu uye kuziva munhu apinda mairi. Chikwata chakakurudzira kugadzirira bot yega yega muguta nemucherechedzo wakasiyana kumashure - senge mota chaidzo dzine nhamba dzekunyoresa yenyika. ArUco mamaki akasarudzirwa chinangwa ichi. Iwo akashandiswa kare mu duckietown sezvo ari nyore kushanda nawo uye anokubvumidza kuti uone kutariswa kwechiratidzo munzvimbo uye kureba kwairi.
Tevere, zvaive zvakafanira kuve nechokwadi chekuti patrol bot inofamba yakasimba mudenderedzwa rekunze pasina kumira pamharadzano. Nekusagadzikana, Duckiebot inofamba munzira uye inomira pamutsetse wekumira. Zvadaro, nerubatsiro rwezviratidzo zvemugwagwa, anosarudza kugadzirisa kwemharadzano uye anoita sarudzo pamusoro pekutungamira kwekupfuura kwemharadzano. Kune rimwe nerimwe rematanho akatsanangurwa, imwe yematunhu emushini wemushini werobhoti ine basa. Kuti vabvise zvimisikidzo pamharadzano, timu yakachinja muchina wehurumende kuitira kuti kana ichisvika pamutsetse wekumira, bot yakabva yachinja kuenda kunharaunda yekutyaira yakananga pamharadzano.
Nhanho yaitevera yaive yekugadzirisa dambudziko rekumisa intruder bot. Chikwata chakaita fungidziro yekuti iyo patrol bot inogona kuwana SSH kune yega yega bots muguta, ndiko kuti, kuve neruzivo nezve data remvumo uye chii id yega yega ine. Nekudaro, mushure mekuona munhu anopinda, bhoti repatrol rakatanga kubatana neSSH kune intruder bot ndokuvhara system yayo.
Mushure mekusimbisa kuti murairo wekuvhara wapera, bhoti repatrol rakamirawo.
Iyo oparesheni algorithm yerobhoti repatrol inogona kumiririrwa seyiyi dhizaini inotevera:
Kushanda pamapurojekiti
Basa racho rakarongwa nenzira yakafanana neScrum: mangwanani oga oga vadzidzi vaironga mabasa ezuva razvino, uye manheru vakashuma nezvebasa rakaitwa.
Pamazuva okutanga neokupedzisira, vadzidzi vaigadzirira mharidzo dzinotsanangura basa racho uye magadzirisirwo aro. Kuti vabatsire vadzidzi kutevera zvirongwa zvavo zvakasarudzwa, vadzidzisi vanobva kuRussia neAmerica vaigara varipo mumakamuri umo basa rezvirongwa raiitwa, vachipindura mibvunzo. Kukurukurirana kwakaitika zvikurukuru muchiRungu.
Migumisiro uye kuratidzwa kwavo
Basa pamapurojekiti rakatora vhiki imwe chete, mushure mezvo vadzidzi vakapa mhedzisiro yavo. Munhu wose akagadzirira mharidzo dzavaitaura pamusoro pezvaakadzidza pachikoro ichi, zvidzidzo zvipi zvinokosha zvavakadzidza, zvavaida kana kuti zvavasingafariri. Mushure maizvozvi, chikwata chimwe nechimwe chakaratidza chirongwa chayo. Zvikwata zvese zvakapedza basa razvo.
Chikwata chiri kushandisa chiyero chemavara chakapedza chirongwa nekukurumidza kupfuura vamwe, saka vaivewo nenguva yekugadzirira zvinyorwa zvechirongwa chavo. Uye boka rinoshanda panzira yemugwagwa, kunyange pazuva rekupedzisira pamberi pekuratidzira kweprojekti, vakaedza kunatsa nekugadzirisa maalgorithms avo.
mhedziso
Mushure mekupedza chikoro, takakumbira vadzidzi kuti vaongorore zviitiko zvekare uye vapindure mibvunzo yekuti chikoro chakaita sei zvavaitarisira, hunyanzvi hwavakawana, nezvimwe. Vadzidzi vese vakacherechedza kuti vakadzidza kushanda muchikwata, kugovera mabasa uye kuronga nguva yavo.
Vadzidzi vakakumbirwawo kuyera kubatsira nekuoma kwezvidzidzo zvavakatora. Uye pano akaumbwa mapoka maviri ekuongorora: kune mamwe makosi haana kuunza dambudziko rakawanda, vamwe vakazviti zvakaoma zvakanyanya.
Izvi zvinoreva kuti chikoro chatora chinzvimbo chakakodzera nekuramba chichiwanikwa kune vanotanga mune imwe ndima, asiwo nekupa zvinhu zvekudzokorora uye kubatanidzwa nevadzidzi vane ruzivo. Izvo zvinofanirwa kucherechedzwa kuti iyo programming kosi (Python) yakacherechedzwa nechero munhu wese seisina kuoma asi inobatsira. Maererano nevadzidzi, kosi yakaoma kwazvo yaive "Computer Architecture".
Apo vadzidzi vakabvunzwa pamusoro pesimba neutera hwechikoro, vazhinji vakapindura kuti vaifarira madzidzisiro akasarudzwa, umo vadzidzisi vaipa betsero yokukurumidza uye yomunhu oga ndokupindura mibvunzo.
Vadzidzi vakacherekedzawo kuti vaifarira kushanda munzira yekuronga zuva nezuva kwemabasa avo uye nekuzvimisira ivo vega nguva. Sezvo zvisingabatsiri, vadzidzi vakacherechedza kushayikwa kwezivo yakapiwa, iyo yaidiwa pakushanda nebhoti: pakubatanidza, kunzwisisa nheyo uye nheyo dzekushanda kwayo.
Vanenge vadzidzi vose vakacherechedza kuti chikoro chakapfuura zvavaitarisira, uye izvi zvinoratidza nzira yakarurama yokuronga chikoro. Nokudaro, nheyo huru dzinofanira kuchengetwa pakuronga chikoro chinotevera, tichirangarira uye, kana zvichibvira, kubvisa zvikanganiso zvinocherekedzwa navadzidzi navadzidzisi, zvichida kuchinja ndaza yekosi kana kuti nguva yokudzidzisa kwavo.
Vanyori vezvinyorwa: timu Π²
P.S. Blog redu rekambani rine zita idzva. Ikozvino ichave yakatsaurirwa kumapurojekiti ekudzidzisa eJetBrains.
Source: www.habr.com