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Nonlinear Straight Path Tracking Control for an Articulated Steering Type Vehicle
Naoji Shiroma,Satoshi Ishikawa 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Autonomous control of an articulated steering type vehicle such as a wheel loader, which is usually used at surface mining fields to load mineral resources and rocks, is highly expected for operation costreduction. A wheel loader is one of heavy machines which is also used for snow removing and/or loading operation at construction fields because of it shigh mobility. Its steering system is articulated steering and the rear wheels follow tracks where the front wheels have traveled. We have for mulated nonlinear state equations using two velocity constraints. A nonlinear state-feedback controller is designed using the exact linearization method. Simulation and experimental results show that an articulated steering type vehicle can follow a straight line with the proposed feedback controller
Guidelines for Human Interface Design of Rescue Robots
Yasuyoshi Yokokohji,Takashi Tubouchi,Akichika Tanaka,Tomoaki Yoshida,Eiji Koyangi,Fumitoshi Matsuno,Shigeo Hirose,Hiroyuki Kuwahara,Fumiaki Takemura,Takao Ino,Kensuk Takita,Naoji Shiroma,Tetsushi Kame 제어로봇시스템학회 2006 제어로봇시스템학회 국제학술대회 논문집 Vol.2006 No.10