Direct teaching algorithm based on task assistance for machine tending

2016 ◽  
Author(s):  
Young-Loul Kim ◽  
Kuk-Hyun Ahn ◽  
Jae-Bok Song
Keyword(s):  
Direct Teaching ◽  
Task Assistance

scholarly journals Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3498
Author(s):  
Youqiang Zhang ◽  
Cheol-Su Jeong ◽  
Minhyo Kim ◽  
Sangrok Jin
Keyword(s):  
Control Algorithm ◽  
Position Control ◽  
Friction Model ◽  
Surgical Instruments ◽  
Control Input ◽  
End Effector ◽  
Motor Current ◽  
Direct Teaching ◽  
End Effectors ◽  
Teaching Operation

This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching of end effectors. The bidirectional telescopic mechanism can actively transmit force both upwards and downwards by staggering the wires on both sides. In order to estimate and control torque via motor current without a force/torque sensor, the gravity model and friction model of the device are derived through repeated experiments. The LuGre model is applied to the friction model, and the static and dynamic parameters are obtained using a curve fitting function and a genetic algorithm. Direct teaching control is designed using a force-free control algorithm that compensates for the estimated torque from the motor current for gravity and friction, and then converts it into a position control input. Direct teaching operation sensitivity is verified through hand-guiding experiments.

Direct Teaching Algorithm for a Manipulator in a Constraint Condition using the Teaching Force Shaping Method

2010 ◽  
Vol 24 (8-9) ◽  
pp. 1365-1384 ◽  
Author(s):  
Chan Hun Park ◽  
Jin Ho Kyung ◽  
Dong Il Park ◽  
Kyung Taik Park ◽  
Doo Hyung Kim ◽  
...  
Keyword(s):  
Constraint Condition ◽  
Direct Teaching ◽  
Teaching Force

scholarly journals PEMBELAJARAN BERNYANYI LAGU WAJIB NASIONAL DENGAN MODEL PEMBELAJARAN LANGSUNG DI SEKOLAH DASAR

2017 ◽  
Vol 1 (2) ◽  
Author(s):  
Mansurdin Mansurdin
Keyword(s):  
Action Research ◽  
Learning Model ◽  
Quantitative Approach ◽  
Qualitative And Quantitative ◽  
Direct Teaching ◽  
Direct Learning ◽  
Classroom Action Research ◽  
Final Work

This research is a collaboration between faculty and students, with the aim of generating a synergy in the final work. The purpose of this study was to increase student’s ability to sing national anthems with direct teaching on 4th grade of SDN 01 Bandar Buat Padang. This study uses qualitative and quantitative approach to the type of research is the Classroom Action Research (PTK ). The results showed the increase of student’s ability to sing outcomes in the first cycle is obtained an average of 74,6 % , while in the second cycle gained an average of 87,6 %.Keywords: Singing Skills; Direct Learning Model

scholarly journals PENGARUH MODEL PEMBELAJARAN DISCOVERY LEARNING TERHADAP PEMAHAMAN KONSEP MATEMATIKA

2019 ◽  
Vol 6 (1) ◽  
pp. 11
Author(s):  
Miftahus Surur ◽  
Sofi Tri Oktavia
Keyword(s):  
T Test ◽  
Discovery Learning ◽  
Vocational School ◽  
Mathematical Concepts ◽  
Significant Difference ◽  
Direct Teaching ◽  
The Difference ◽  
Level Of Understanding ◽  
Academic Year ◽  
Quasi Experiment

Abstract: This study aims to determine the difference in understanding of students' concepts in mathematics subjects using discovery learning models and direct teaching models in class X of Khamas Asembagus Vocational School 2017/2018 academic year. This research is a type of quasi experiment research (quasi experiment). The population in this study was class X of the Khamas Asembagus Vocational School which consisted of 3 classes with 80 students. The sample in this study is class X TKJ 1 as many as 24 students as the experimental class and class X MM as many as 31 students as the control class. Data collection in this study was conducted using a test and then analyzed by t-test. The results of the analysis show that tcount> ttable or 3.198> 1.6741, it can be concluded that there is a significant difference in the level of understanding of students' concepts in mathematics between those using the discovery learning model and the direct teaching model.  Keywords: Discovery Learning, Learning Outcomes, mathematical concepts Abstrak: Penelitian ini bertujuan untuk mengetahui perbedaan tingat pemahaman konsep siswa pada mata pelajaran matematika yang menggunakan model discovery learning dan model pengajaran langsung pada siswa kelas X SMK Khamas Asembagus tahun pelajaran 2017/2018. Penelitian ini merupakan jenis penelitian quasi experiment (kuasi eksperimen). Populasi dalam penelitian ini yaitu kelas X SMK Khamas Asembagus yang terdiri dari 3 kelas dengan jumlah 80 siswa. Sampel dalam penelitian ini yaitu kelas X TKJ 1 sebanyak 24 siswa sebagai kelas eksperimen dan kelas X MM sebanyak 31 siswa sebagai kelas kontrol. Pengumpulan data dalam penelitian ini dilakukan dengan menggunakan test dan selanjutnya dianalisis dengan uji t-test. Hasil analisis menunjukkan bahwa thitung > ttabel atau 3,198 > 1,6741, dapat disimpulkan bahwa terdapat perbedaan yang signifikan tingkat pemahaman konsep siswa pada mata pelajaran matematika antara yang menggunakan model pembelajaran discovery learning dan model pengajaran langsung. Kata kunci: discovery learning, hasil belajar, konsep matematika

scholarly journals IMPROVING MATHEMATICS COMMUNICATION CAPABILITIES THROUGH DIRECT TEACHING MODELS WITH PROBLEM POSING APPROACHES

2019 ◽  
Vol 7 (1) ◽  
pp. 16
Author(s):  
Ediaman A.R
Keyword(s):  
High School ◽  
Learning Process ◽  
Problem Posing ◽  
Average Score ◽  
Teaching Model ◽  
Public High School ◽  
Mathematical Communication ◽  
Teaching Models ◽  
Asking Questions ◽  
Direct Teaching

This study aims to improve students' Mathematical Communication Ability through a direct teaching model using the Problem Posing approach. The indicators used are (1) the ability to present mathematical statements in writing through symbols and images, (2) the ability to manipulate mathematics, and (3) the ability to draw conclusions from mathematical statements. The type of research chosen was classroom action research which was conducted in two cycles, the subjects in this study were 26 students of class XII IPA 2 in Sinjai State Senior High School as many as 26 people. The results showed that (1) the average score of mathematical communication skills of students of class XII IPA 2 of Sinjai Public High School 4 after being taught using the direct teaching model and the problem posing approach were in the high category. (2) the activities carried out by students increase especially activities in terms of asking questions from the situation given by the teacher, communicating questions that are asked by other students in writing, and expressing opinions on the teacher and other students, (3) Teacher activities in the learning process well, (4) In general students give a positive response to the problem posing learning approach, as an application of the results of this study it is suggested that in the learning process the teacher should use a direct teaching model with a problem posing approach to improve student communicationIMPROVING MATHEMATICS COMMUNICATION CAPABILITIESTHROUGH DIRECT TEACHING MODELS WITH PROBLEM POSING APPROACHES

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