Development of a Multi-DOF Robotic Controller for Academic Purposes

This article presents the development of a robotic controller for technical training, academic teaching, and research. The controller was designed to interact from 1 to 6 DOF （degrees of freedom） serial robotic arms, actuated by brushed DC （direct current） servomotors equipped with incremental encoders. Controller architecture is based on four components： a processor, a reconfigurable FPGA （field-programmable gate array）, measurement I/O hardware and software. Functionality of the robotic controller has been proved by means of the interaction with an SCARA （selective compliance assembly robot arm）. The proposed controller presents the potential to teach technical courses （like robotics, control, electronics and programming） and to implement and validate advanced control algorithms.

教育与日本现代化——日本正、反两方面教育改革经验探讨

日本的经济成功追溯其内在因素———教育的成功。当今国际经济竞争日益加剧 ,日本作为二战后崛起的经济大国 ,其作为取胜手段的教育改革 ,成为举世瞩目课题 ,被认为是效仿的榜样。文章从深层次剖析了日本教育改革正、反两方面的经验 ,以及成功与失败的教训 ,说明日本教育的“真相”与基本构造 。