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Jumping Pattern Generation for One-Legged Jumping Robot
Akira UMEHARA,Yuya YAMAMOTO,Haruyoshi NISHI,Atsuo TAKANISHI,Hun-ok LIM 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper describes a one-legged robot capable of jumping that consists of a waist, thigh, a shin, and foot. The jumping robot’s height is 1200 [mm], and its weight is 90 [kg]. Two kinds of pneumatic artificial muscle, the mono-articular muscle and the bi-articular muscle are installed. Also, the jumping pattern that is composed of an air-supplying and an air-exhausting pattern of the pneumatic actuator is discussed. The jumping pattern is generated offline taking into account actuator dynamics. A jumping experiment was conducted, and the effectiveness of the mechanism and jumping pattern was verified.
Takeshi Umehara,Shohei Iinuma,Akira Yamada 대한금속·재료학회 2016 ELECTRONIC MATERIALS LETTERS Vol.12 No.4
This study investigated the band profile design of Cu(In,Ga)Se2 (CIGS)solar cells by considering the rear surface recombination. We comparedthe structures assuming the back surface field (BSF), passivation andgraded band profile by using device simulator. As a result, it was foundthat the band structure of a combination of a flat-band and a singlegradedprofile is the suitable structure for CIGS solar cells with theabsorber thickness of around 1.0 μm. In addition, the back passivationtechnique is unnecessary in the case of CIGS solar cells with a bandprofiling technique. We proposed that the band structure of acombination of a flat-band and a single-graded profile is the mostpractical and effective way for CIGS solar cells.