详细分析信息大类软件工程专业导论课程存在的问题和挑战,提出面向"零"基础大类新生的专业导论课程教学方法,探讨如何设计以个性化项目为驱动,强调自主选题和进阶式自选技术学习,融合线上与线下、理论与实践、大班技术学习与小班个性化研讨的多维度混合式教学模式,以北京航空航天大学信息大类的软件工程专业导论"走进软件"课程为例,介绍如何解决实践中遇到的具体问题,说明该教学模式的有效性.

编译原理的新概念、新算法和新理论比较多,被计算机及软件专业学生视为最难以掌握的专业基础课之一.针对课程教学中难点比较集中的问题,为了让学生能平缓地接受该课程的基础理论和知识,提出两遍教学法的思路,阐述如何将编译原理的实践环节和教学环节有机结合,对教学和实践的各个环节进行合理安排,并说明已取得的教学效果.

软件学院对学生的培养目标集中体现在“实用”上面,因此对传授计算机基础理论知识的编译原理课程必须加大实践环节的侧重.如何在传授理论知识的同时,大力培养学生的编程能力,一直是摆在各软件学院面前的一道难题.文章针对这一现实问题,通过分析学生的接受能力,有针对性地设计几种课程实践的实施方案,并说明北京航空航天大学软件学院编译原理课程教学中的实践情况和取得的效果.

语音是人与人之间最直接、最自然的交互途径，也是人机交互的重要方式。在人工智能领域，对语音的情感识别和理解至关重要，而一般的语音识别系统在实现语音转文字时往往损失了很多的语音情感信息。该文介绍一种利用卷积神经网络进行语音情感识别的方法。论文首先从心理学与人工智能的角度讨论了情感计算的框架和语音情感识别的方法，然后介绍了语音的关键特征提取和归一化问题，通过40组滤波器来提取每一帧音频的数据，之后通过构建卷积神经网络，对输入的音频特征进行逐层训练，通过特征的逐层表达实现高层显著特征的凸显，最终产生语音情感分类的模型，最后通过一定的数据集，对分类模型进行验证。

针对软件工程专业硕士研究生毕业论文阶段出现的问题,分析其原因并提出引进一个有效的质量保障体系,详细论述该体系中论文盲审、论文查重、答辩分组、规范现场等具体环节的实施,以杜绝论文答辩环节学术不端行为,从而提高研究生论文质量.

随着软件在各个行业关键业务中的深入应用,培养具备软件工程和相关学科交叉技术的人才是软件学院的迫切任务。文章结合当今主流技术的发展和应用,以交叉学科人才培养机制研究和全日制专业学位研究生培养机制研究为依据,重点讨论软件工程与云计算技术交叉,面向移动和大数据应用的相关专业方向课程体系建设,并系统讨论课程设置方案和交叉特性的体现。

交叉学科实践机制对于交叉学科建设起着很重要的作用。文章提出通过采取推进交叉学科实践内容的融合、建设高水平的综合实验平台、组建交叉学科实践人才队伍、加强交叉学科工程实践、建立国内外实习基地、设立交叉学科实践模式等措施,推动交叉学科的健康发展。

Lie groups and Lie algebras were used to study the dynamics and control of robot system with active and passive joints.The inverse dynamics were described with Lie groups and Lie algebras.Then the Newton-Euler method and articulated body method were combined together to handle with the problems of the robot dynamics with active and passive joints.The computed torque control law was used to simulate with the results of dynamics.Compared with the simulation results of PID control law,the computed torque control law has better performance.

The parameter identification methods for inertial parameters of the base and unknown objects handled by manipulators on a free-floating space robot was studied. First, kinematics model of robots based on spatial operator algebra theory was obtained. Next, parameter identification of the base was studied based on the conservation principle of linear and angular momentum, then parameter identification of the unknown object handled by manipulators was considered based on the parameters of the base. Finally, the effect of the robot parameters on parameter identification was analyzed. The feasibility of the parameter identification methods was demonstrated by a hardware experiment on the ground as well as the numerical simulations.

The hybrid recursive dynamics based on the spatial operator algebra theory and real time simulation of a generalized flexible muhibody was presented herein. The generalized flexible muhi-body was described according to the type of the joints (active or passive) ; then the generalized articu-lated inertia-matrix, the residual forces and the generalized acceleration and torque were computed through twice tip-to-base recursive and once base-to-tip recursive; at last the O(N) hybrid dy-namics was gained. Next real time solver for the large differential-algebra equation was studied based on the linear multi-step method. Simulation results show that the dynamics modeling and fast integration techniques proposed here are very useful.

The generalized efficient recursive dynamics model of a kind of flexible macro-micro space robots system was built. The method of describing the under-actuated rigid-flexible multibody system based on Spatial Operator Algebra (SOA) theory was proposed. The generalized flexible multibody was described in according to the type of the joint (active or passive), and the rigid body or the flexible body; then the generalized articulated inertia-matrix, the residual forces and the generalized acceleration and torque were computed through twice tip-to-base recursive and once base-to-tip recursive; at last the O(n) generalized dynamic was gained. Simulations results show that the dynamic modeling and fast integration techniques proposed in this paper are very useful.

The symbol system of recursive dynamics algorithm of rigid-flexible coupling using spatial operator algebra theory was introduced, which achieves O(n) times calculating efficiency for any combination with rigid and flexible for open chain and tree topology of floppy base or fixed base. The uniform dynamics modeling process was realized through transferring the modal variables and kinematics variables and dynamics variables on the joint space using transform operator. The recursive kinematics and dynamics of rigid-flexible coupling system were described by low and children orders of multi-body system topology. The architecture of rigid-flexible coupling systems dynamics analysis software was developed based on spatial operator algebra theory, and some engineering practical examples were given.

Lie group and Lie algebra are used to research the dynamics of under-actuated free flying multibody systems.The under-actuated joints are decomposed into component active and passive joints.The Newton-Euler inverse dynamics is promoted to contain the active and passive joints.At the same time,the dynamical modeling method of space systems with active and passive joints is built.This method can be used to model chain and tree topology space systems.It can also be used to model beam-like flexible multibody systems which are established by finite segment method with high efficiency.Results show that the dynamics described with Lie group and Lie algebra are helpful in highly efficient dynamics modeling.The dynamical expressions are concise and clear.

The inverse dynamics of the rigid multibody system is studied based on the spatial operator algebra theory, and the generalized mass procedure is realized in the environment of Mathematica 5.2 software. The high effective stepping method can be used to compute forward and inverse dynamics. It is an important factor for linking rotation force and rotation acceleration, and has a simple mathematical expression and a clear physical meaning. The software structure of the generalized mass and inverse dynamics is built and the rigid multibody system dynamics simulation model is realized based on the integrated procedure VB. NET and Mathematica 5.2. According to the analysis, the example of PUMA560 robot inverse dynamics is studied. Finally, the correctness and the validity are verified by the computed examples.

To improve the generalized mass modeling efficiency of multi-body system dynamics,the recursive design and realization of the generalized mass procedure was built in the environment of software Matahematica6.0 by use of the spatial operator algebra(SOA) theory.Based on the SOA recursive mode,the recursive algorithm with high efficiency for the generalized mass was thus generated.The seamless integration with software Mathematica6.0 was realized by use of the programming software VB.NET.The modeling of the generalized mass of multi-body system dynamics was analyzed,and the implementation procedure was also given. A design case of the generalized mass for robot PUMA560 was studied and was compared with the results.The correctness and efficiency of modeling was verified.

The dynamics model of flexible space robots was proposed,and the fast integration method to solve the complex differential-algebra equation was discussed.First,a dynamics model was set up based on the Lagrange method.Second,the differential-algebra equation of dynamics of the space flexible robots was gained according to the type of the joint(active or passive).Finally,the fast integration method to solve the complex differential-algebra equation was used.Simulations results showed that the dynamic modeling and fast integration techniques of the flexible space robot proposed was very useful.