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Engineering education aims to help students become active designers, understand design requirements better, and be capable to execute real design projects. Based on CDIO engineering education model, comprehensive practice courses in the authors' university were redesigned and developed to provide students a complete " conceiving, designing, implementing, operating" learning experience. Under the consideration of the pedagogic characteristics, existing problems and cultivation demands, we constructed interdisciplinary teaching mode and CDIO project-based organizational structure; systematically designed teaching activities ( e. g., course curriculum, teaching methods, assessment metrics, etc. ) and continuously improved. A novel teaching method with "inter-specialty, project-based" has been established. After six years of practice, it shows that the students' ability of innovation and practice was widely improved. Student self-report data indicate high satisfaction with their learning experiences. It is also expected that this study may offer a reference to other engineering education reform. [ABSTRACT FROM AUTHOR]