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Integrating the specifications and tools for IMS-Learning Design (IMS, 2003) into Moodle (Moodle, 2003), an open-source Learning Management System (LMS), is not just a technological question, but also relates to practical, pedagogical, and philosophical issues. This study documents the discussions and experiments of a team of teachers active in the Moodle(More)
A new dynamic model and impedance control algorithm of a haptic feedback device for robotic teleoperation is analyzed in this paper. User forces applied to the haptic device through human hand movements are modeled as disturbances to the control system. Detailed analysis for modeling haptic device and human hand is provided and then a self-tuning Fuzzy PID(More)
This paper presents an application of an adaptive neuro-fuzzy controller for compensating friction and disturbance effects on robot manipulators. The frictions and disturbances are important parts of the dynamic system of a robot manipulator. However, they are highly nonlinear and not easily modeled. Feedback linearization control combined with PD type(More)
This paper presents a remote control system of a 6 DOF underwater robot using two acoustic transducers, while radio and optical waves are not used because they are strongly attenuated in a complex environment as water. Underwater robots can be controlled by cables limited by distances, environment conditions, and not flexible. Therefore, it is necessary to(More)
  • NGHIÊN CỨU, cấu trúc, +8 authors Võ Quốc Thắng
  • 2016
TÓM TẮT: Bài báo này đề xuất một cấu trúc động học mới cho một tay máy công nghiệp dư dẫn động dạng chuỗi. Đây là một cơ cấu tay máy mới được phát triển dựa trên ý tưởng cải tiến rôbốt công nghiệp 6 trục IRB 2400 của ABB. Tay máy được đề xuất gồm 6 khớp quay và 2 khớp chuyển động tịnh tiến. Do có hai khớp quay bị phụ thuộc cơ khí với nhau làm cho hệ chỉ có(More)
This paper presents the optimal design and self-tuning fuzzy PID force control of a new 6-DOF haptic device. The haptic device is designed to select the optimal lengths of links so that requirements of workspace, force transmission ratio and singular configuration are satisfied. These requirements produce a composite global design index as a multi objective(More)
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