Periodic Motion Planning and Control for Double Rotary Pendulum via Virtual Holonomic Constraints

Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes more difficult for a system with higher underactuation degree, that is with a higher difference between the number of degrees of freedom and the number of independent control inputs. However, from another point of view, these constraints also mean some relation between state variables and could be used in the motion planning.We consider a double rotary pendulum, which has an underactuation degree 2. A novel periodic motion planning is presented based on an optimization search. A necessary condition for existence of the whole periodic trajectory is given because of the higher underactuation degree of the system. Moreover this condition is given to make virtual holonomic constraint(VHC) based control design feasible. Therefore, an initial guess for the optimization of planning a feasible periodic motion is based on this necessary condition. Then, VHCs are used for the system transformation and transverse linearization is used to design a static state feedback controller with periodic matrix function gain. The controller gain is found through another optimization procedure. The effectiveness of initial guess and performance of the closed-loop system are illustrated through numerical simulations.

Double BP Q-Learning Algorithm for Local Path Planning of Mobile Robot

Aiming at the dimension disaster problem, poor model generalization ability and deadlock problem in special obstacles environment caused by the increase of state information in the local path planning process of mobile robot, this paper proposed a Double BP Q-learning algorithm based on the fusion of Double Q-learning algorithm and BP neural network. In order to solve the dimensional disaster problem, two BP neural network fitting value functions with the same network structure were used to replace the two Q value tables in Double Q-Learning algorithm to solve the problem that the Q value table cannot store excessive state information. By adding the mechanism of priority experience replay and using the parameter transfer to initialize the model parameters in different environments, it could accelerate the convergence rate of the algorithm, improve the learning efficiency and the generalization ability of the model. By designing specific action selection strategy in special environment, the deadlock state could be avoided and the mobile robot could reach the target point. Finally, the designed Double BP Q-learning algorithm was simulated and verified, and the probability of mobile robot reaching the target point in the parameter update process was compared with the Double Q-learning algorithm under the same condition of the planned path length. The results showed that the model trained by the improved Double BP Q-learning algorithm had a higher success rate in finding the optimal or sub-optimal path in the dense discrete environment, besides, it had stronger model generalization ability, fewer redundant sections, and could reach the target point without entering the deadlock zone in the special obstacles environment.

Development of Strategic Industrial Clusters in Guangdong Higher Vocational Colleges based on the"Double High Plan"

This article analyzed the ten strategic pillar industry clusters and the ten strategic emerging industry clusters which were confirmed and announced by Guangdong Province in May 2020 in addition to the 14 professional groups of schools in Guangdong Province which were shortlisted in the"Double High Plan."With comparison and analysis,the degree of coincidence between the professional groups of higher vocational colleges and strategic industrial clusters in Guangdong Province which covered most of the industrial clusters was relatively high.The higher vocational colleges that were shortlisted in the"Double High Plan"still required dynamic adjustments in the construction of professional groups to achieve an allrounded integration of the supply of talents and industrial demands.

Teaching Reform and Research on Art Design Majors in Higher Vocational Colleges under the Background of “Double High Plan”

Training talents for the society is the responsibility of colleges and universities.The society needs applied and innovative art design majors.In order to cultivate talents needed by society and keep up with the development plan of the Ministry of Education,higher vocational colleges need to reform.This paper adopts the method of theoretical analysis to elaborate from the four aspects of focusing equally on science and education,promote learning by competition;integrating industry and education,nurturing talents together;keeping the mission in mind while serving students;and finding the right positioning,giving full play to the advantages.

Research on the Optimization of Talent Recruitment Process in Higher Vocational Colleges under the Background of Double High Plan

In order to elucidate the relationship between talent recruitment and teacher allocation management in higher vocational colleges under the background of the"Double High Plan",this paper studies and analyzes the current status of talent recruitment in Chinese higher vocational colleges in conjunction with the characteristics of talent resource allocation in higher vocational colleges and proposes to elucidate the priorities and improve supporting policies with reasonable planning to improve the optimization guideline of talent recruitment efficiency,so as to better accomplish the building of the national"double high plan"and improve the ability of higher vocational colleges to nurture more outstanding talents for the society.

Thoughts on the Management of Personnel Files in Higher Vocational Colleges in the Context of“Double High Plan”

Starting from the background of the"Double High Plan"in conjunction with the role of personnel file management in advancing the"Double High Plan",this paper analyzes the current status of personnel file management in higher vocational colleges and the necessity of personnel management in higher vocational colleges,and explores the effective measures to strengthen the informatization of personnel files management to make it more reasonable,standardized and informatized.

Research on Innovation of Modern Apprenticeship Talent Training Model for Art and Design Majors in Higher Vocational Education under the Background of "Double High"

In order to cultivate more excellent talents in art and design majors following the requirements of the"13th Five-Year Plan"national education development,this paper analyzes in-depth on the current status of higher vocational education in art design profession under the background of the"Double High"plan and the challenges faced,and proposes the building of school-enterprise"Double Subject"education system and the establishment of a"diversified"evaluation system.Deepening the integration of industry and education,schools and enterprises jointly explore modern apprenticeship talent training models for innovative art and design majors,and provide a strong guarantee for the implementation of the"Double High"plan modern apprenticeship talent training model.

服务四川省食品饮料产业的工商专业群人才培养模式探索

依据“双高计划”要求,专业群的人才培养应与产业人才需求精准对接。面向先进制造业、现代农业和现代服务业等重点产业,服务于重点产业转型升级,以体现职业教育为生产劳动服务的功能。工商专业在组群中没有特色,常常被边缘化。因此,要跨专业组群,面向重点产业,兼顾培养懂技术的管理人才,懂管理的技术人才。通过“技术+管理”“工科+商科”,跨专业跨领域交叉融合,服务四川省食品饮料产业。目标是培养“懂管理、善操作、精技术”的复合型技术技能人才和“懂技术、会经营、擅管理”的技术技能型管理人才。

高水平专业群建设产出绩效评价指标体系构建研究

高水平专业群建设绩效评价既是衡量“双高”建设成效的必然要求,也是促进高职院校内涵式发展的迫切需要,还是下一轮双高计划建设单位遴选的重要举措。依据教育部和财政部相关文件,提出了高水平专业群建设绩效评价体系框架。在对产出指标选用原则分析的基础上,选出了9个二级指标下的备选三级指标;运用DEMATEL分析法,对备选三级指标进行优化,确定了产出指标下的评价体系和权重。通过高水平专业群建设绩效评价体系的构建,引导专业群建设方向始终指向“双高计划”总体目标,有效提升专业群的人才培养质量与服务能力。

“双评价”:空间规划决策的科学性跃迁——岳文泽《面向国土空间规划的“双评价”理论与实践》评介

研究目的:阐明面向国土空间规划“双评价”的有限理性选择,总结其实践效用,提出国土空间规划语境下“双评价”的现实挑战与应对路径,揭示“双评价”从定量评价到规划决策科学性跃迁的逻辑。研究方法:文献资料法和归纳演绎法。研究结果:(1)面向国土空间规划的“双评价”肩负着提升规划决策科学性的使命;(2)“双评价”在不同尺度和不同决策需求中应具有差异化的应用,发挥对规划决策方案的先验性量化支撑作用;(3)“双评价”在应用中面临诸多挑战,面对不同需求角度下需要持续创新以提升其应用价值。研究结论:“双评价”的进步意义在于实现定量评价到规划决策的科学性跃迁,其对于国土空间规划的支撑作用体现在为国土空间的组织、协调、统筹提供科学依据,直接服务于不同尺度、不同需求的意志和价值在国土空间上的映射。

“双高”背景下增强职业教育适应性的价值意蕴与行动方略

“双高”建设与增强职业教育适应性具有高度一致性,二者均聚焦培养“人”、聚心厚植“德”、聚合整生“链”。在“双高”背景下,增强职业教育适应性既是推动职业教育现代化发展的内在需求,又是实现经济高质量发展的时代要求,更是加快人才强国建设进程的根本诉求。面向“双高”建设内容,职业院校应坚持类型特色,打造现代化职业教育体系;创新发展理念,形塑开放化职业教育办学模式;疏通文化堵点,优化校企合作办学模式,稳步增强职业教育适应性。

“双高计划”背景下高职院校学报高质量发展策略探究

“双高计划”是推进中国职业教育现代化的重要决策。高职院校学报应当牢牢抓住“双高计划”给高职院校提供的发展机遇,不断提升学报编辑团队、审稿专家业务能力,围绕“双高计划”中院校与专业群建设的成果开办特色栏目,吸引优质稿源,加快数字化转型,深化科教融汇,在展示优秀学术与科研成果的同时,实现自身的可持续、高质量发展。

“双高”背景下工业机器人技术专业人才培养模式路径探究

“双高”背景下高职院校特色高水平专业建设的根本着力点在于人才培养模式的改革。通过改革人才培养的模式,全面提升人才培养的质量,为中国装备制造业的发展提供与之期望高度契合的优质的、高素质的高端技能型人才。以工业机器人技术专业为例,分析了专业人才培养现状及问题,并以“双高”目标为引领,探索人才培养模式改革的路径,创新人才培养模式,从“双师队伍”,“大赛”“双创教育”等方面入手,多角度发力,培养高素质人才以对接行业企业的发展。

“双万计划”建设背景下山西大学考古专业理论课程的调整优化

山西大学考古专业在2021年成为教育部“双万计划”国家级一流本科专业建设点。如何构建新时代的考古专业课程体系,强化人才培养工作,是考古专业建设的重要任务。以习近平总书记关于加强历史文化遗产保护和考古研究工作的重要论述和重要指示批示为理论指导,对标北京大学、西北大学、吉林大学三所考古学科A等高校的专业理论课程,提出山西大学考古专业理论课程的优化方案。

基于质量提升视角的我国高校专利转化实证研究——以航空类“双高计划”院校为例

本文依托incoPat专利数据库,分析2012—2021年的5所航空类“双高计划”院校的专利发展趋势和专利成果转化现状,并用倾向得分匹配法进行实证分析,为优化航空类院校专利成果转化政策,提升专利成果转化水平提供参考。结果显示5所航空类“双高计划”院校的发明专利偏少,质量偏低。专利的授权率较高,但是转化率总体处于低位。专利质量与专利成果转化呈正向促进关系,专利的转化得益于专利质量的提升,而技术质量的提升对专利的转化起到关键影响作用。

“双高计划”背景下高职院校师资队伍国际化水平提升路径研究

高职院校师资队伍国际化水平的提升有利于促进中国高职专业建设标准与国际融通,有利于高职院校人才培养模式国际化和合理化,有利于高职院校管理模式更加国际化和规范化。但是,目前的相关工作中依然存在“缺乏核心团队,引领意识不强”“培训途径单一,交流活动局限”“自身能力不足,难以满足需求”“激励机制不够,堵点尚未打通”4个方面的问题。因此,在“双高计划”背景下高职院校师资队伍国际化水平提升方面,应不断提升核心团队竞争力,让“主动”成为常态;加强顶层设计与指导,拓展多元化培养途径;抓好“五能”培养工程,凝心聚力助推发展;深化体制机制改革,激发全员创新活力。

“双高计划”背景下湖南高职院校国际化水平提升路径研究

鉴于“双高计划”背景下提升湖南省高职院校国际化水平的紧迫性与现状,提出湖南高职院校国际化水平提升的服务湖南地方经济发展为初衷、形成多方联动机制、打造多方协同国际化团队、对接国际认证标准、健全危机应对机制的提升路径。

澳大利亚新南威尔士大学战略规划的政策变迁研究

基于历史制度主义的理论视角,审视新南威尔士大学卓越发展的基本政策框架和主要实践行动,发现该校在政策变迁中综合运用制度微调、制度置换、制度转换等三种方式赋能育人、创新、内涵等三个层面,协同推进大学战略目标的达成。参考新南威尔士大学的成功经验,我国大学应立足高等教育的阶段性特征,基于动态循证来合理把握政策调整的时机、路向与模式,关注育人本质的变革、创新模式的革新、内涵要素的协同,有效实现卓越发展的愿景。

战略规划背景下我国高校图书馆事业发展探析

“双一流”高校是我国教育强国战略重点建设的高校,其图书馆战略规划内容代表了我国高校图书馆对图书馆事业发展的规划与思考。文章选取我国“双一流”高校图书馆的“十四五”战略规划文本作为研究对象,采用科学计量学方法对其进行检索并提取关键词,利用VOSviewer1.6.20对关键词共现矩阵进行聚类和可视化,在此基础上从资源、服务、技术和管理四个领域对高校图书馆的发展规划内容进行了统计并分析,以期为我国图书馆事业的未来发展提供借鉴。

“双万计划”背景下体育专业大学生核心素养培育研究

文章运用专家访谈法、文献资料法和案例分析法等研究方法,在“双万计划”背景下对体育专业大学生核心素养培育进行研究,从体育专业大学生核心素养的结构出发,探究其研究价值,提出以做体育文化人为导引,更新培育方式;以德术相长为根基,完善课程结构;“学-练-赛”与“五心”培育相结合,更新培养思路;以知行合一及勇于担当为思想,强化培养目标的策略,以丰富核心素养研究的理论成果。