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金鐘佑(Jong-Woo Kim),車鐵(Chul Cha),成永輝(Young Whee Sung),趙東權(Dong Kwon Cho) 대한전기학회 2007 전기학회논문지 Vol.56 No.2
Robot mobility and intelligence become more important for robots to be used in various fields other than automation. The main purpose of providing mobility to a robot is to extend the robot's manipulability. In this paper, we introduce a small humanoid robot that can autonomously paly golf as an example of incorporating robot intelligence, mobility, and manipulability. The robot has 12 degrees of freedom for legs and has various basic walking patterns. It can move to a desired position and change orientation by combining the basic walking patterns. The robot has a color CCD camera and can extract coordinates of the objects in the environments. The small humanoid robot has 8 degrees of freedom for arms and can play golf autonomously with two kinds of dexterous swing motions. Kinematic analysis of the robot arms, vision data processing for the recognition of the environments, algorithm for playing robotic golf have been performed or proposed. The experimental results show that the robot can play golf autonomously.
건설계획 수립시 계층분석적 의사결정법 적용방안에 관한 연구
손진현(Jin-Hyeon Sohn),차철(Cheol Cha) 한국산업융합학회 2007 한국산업융합학회 논문집 Vol.10 No.4
Recently, the items of construction planning have magnified and specialized and the problems occurring at the first step of the construction planing process have complicated. In this research, AHP(Analytic Hierarchy Process) method which is simple to apply and clear to decide has been proposed when a people making a plan at the first step of the construction planing process. As an example, the best solution has been obtained in a railway construction line choice that consist of various items by applying for this method, which proves the possibility of application of this method to the complicated problems.