3,048 research outputs found
Perkaitan di antara status sosioekonomi keluarga dengan Pencapaian akademik pelajar aliran teknikal
Selain daripada mengendalikan fungsi pendidikan, sekolah juga diberikan peranan bagi menyediakan tenaga mahir untuk memenuhi keperluan ekonomi negara. Sekolah aliran teknikal dilihat sebagai satu institusi khusus yang memainkan peranan tersebut. Namun begitu, terdapat pelbagai faktor yang boleh mempengaruhi pencapaian pelajar aliran teknikal ini. Tahap sosioekonomi keluarga telah dikenalpasti antara faktor yang boleh mempengaruhi pencapaian pelajar. Kajian ini dilakukan untuk mendapatkan perkaitan di antara tahap sosioekonomi keluarga seperti tahap pendidikan bapa, jumlah pendapatan dan saiz keluarga terhadap pencapaian akademik pelajar. Sampel kajian ini ialah pelajar-pelajar tingkatan 4 dan 5 yang menetap di asrama Sekolah Menengah Teknik Kuala Terengganu. Pelajar ini dipilih kerana mereka mendapat kemudahan dan persekitaran pembelajaran yang sama. Seramai 80 orang pelajar dalam jurusan teknikal dipilih secara rawak mudah. Keputusan kajian mendapati bahawa hanya saiz keluarga mempunyai korelasi yang tinggi berbanding tahap pencapaian akademik bapa dan jumlah pendapatan keluarga. Ini menunjukkan bahawa faktor saiz keluarga memberikan impak secara langsung kepada pencapaian pelajar walaupun mereka menetap di asrama yang menyediakan suasana dan kemudahan yang sama
The WCSAR telerobotics test bed
Component technologies for use in telerobotic systems for space are being developed. As part of this effort, a test bed was established in which these technologies can be verified and integrated into telerobotic systems. The facility consists of two slave industrial robots, an articulated master arm controller, a cartesian coordinate master arm controller, and a variety of sensors, displays and stimulators for feedback to human operators. The controller of one of the slave robots remains in its commercial state, while the controller of the other robot has been replaced with a new controller that achieves high-performance in telerobotic operating modes. A dexterous slave hand which consists of two fingers and a thumb is being developed, along with a number of force-reflecting and non-force reflecting master hands, wrists and arms. A tactile sensing finger tip based on piezo-film technology has been developed, along with tactile stimulators and CAD-based displays for sensory feedback and sensory substitution. The telerobotics test bed and its component technologies are described, as well as the integration of these component technologies into telerobotic systems, and their performance in conjunction with human operators
The implications of embodiment for behavior and cognition: animal and robotic case studies
In this paper, we will argue that if we want to understand the function of
the brain (or the control in the case of robots), we must understand how the
brain is embedded into the physical system, and how the organism interacts with
the real world. While embodiment has often been used in its trivial meaning,
i.e. 'intelligence requires a body', the concept has deeper and more important
implications, concerned with the relation between physical and information
(neural, control) processes. A number of case studies are presented to
illustrate the concept. These involve animals and robots and are concentrated
around locomotion, grasping, and visual perception. A theoretical scheme that
can be used to embed the diverse case studies will be presented. Finally, we
will establish a link between the low-level sensory-motor processes and
cognition. We will present an embodied view on categorization, and propose the
concepts of 'body schema' and 'forward models' as a natural extension of the
embodied approach toward first representations.Comment: Book chapter in W. Tschacher & C. Bergomi, ed., 'The Implications of
Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-5
CASSL: Curriculum Accelerated Self-Supervised Learning
Recent self-supervised learning approaches focus on using a few thousand data
points to learn policies for high-level, low-dimensional action spaces.
However, scaling this framework for high-dimensional control require either
scaling up the data collection efforts or using a clever sampling strategy for
training. We present a novel approach - Curriculum Accelerated Self-Supervised
Learning (CASSL) - to train policies that map visual information to high-level,
higher- dimensional action spaces. CASSL orders the sampling of training data
based on control dimensions: the learning and sampling are focused on few
control parameters before other parameters. The right curriculum for learning
is suggested by variance-based global sensitivity analysis of the control
space. We apply our CASSL framework to learning how to grasp using an adaptive,
underactuated multi-fingered gripper, a challenging system to control. Our
experimental results indicate that CASSL provides significant improvement and
generalization compared to baseline methods such as staged curriculum learning
(8% increase) and complete end-to-end learning with random exploration (14%
improvement) tested on a set of novel objects
Tactile Mapping and Localization from High-Resolution Tactile Imprints
This work studies the problem of shape reconstruction and object localization
using a vision-based tactile sensor, GelSlim. The main contributions are the
recovery of local shapes from contact, an approach to reconstruct the tactile
shape of objects from tactile imprints, and an accurate method for object
localization of previously reconstructed objects. The algorithms can be applied
to a large variety of 3D objects and provide accurate tactile feedback for
in-hand manipulation. Results show that by exploiting the dense tactile
information we can reconstruct the shape of objects with high accuracy and do
on-line object identification and localization, opening the door to reactive
manipulation guided by tactile sensing. We provide videos and supplemental
information in the project's website
http://web.mit.edu/mcube/research/tactile_localization.html.Comment: ICRA 2019, 7 pages, 7 figures. Website:
http://web.mit.edu/mcube/research/tactile_localization.html Video:
https://youtu.be/uMkspjmDbq
Novel Dexterous Robotic Finger Concept with Controlled Stiffness
This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. The novel robotic finger combines three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities. The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework
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