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Tatsuo Narikiyo,Michihiro Kawanishi,Tomohito Mizun 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
A mobile manipulator is expected to play an important role both in the production process of factory and in a medical care system of welfare business. To come up to this expectation, a mobile mani pulator is required to simultaneously track to both the desired position trajectory and force trajectory. These tracking performances are attained by hybrid position/force control. In this paper, we propose a new adaptive control scheme for a mobile manipulator. The proposed adaptive control scheme consists of adaptive tracking control to desired position/force trajectories and robust control for unknown bounded disturbance. Effectiveness of the proposed control scheme is demonstrated by numerical simulation.
Extracting Method of Kansei Design Rules Based on Rough Set Analysis
( Tatsuo Nishino ),( Mitsuo Nagamacbi ) 한국감성과학회 2002 춘계학술대회 Vol.2002 No.-
Kansei design knowledge acquisition stage is a crucial stage in kansei designing process and kansei engineering (KE) methodology. In kansei engineering methodology, it is essential to extract design knowledge or rules on relationships between customer``s kansei and product design element. We attempt to construct a more powerful melted for extracting the design rules from kansei expremental data. We constucted a kansei experiment concerning color kansei evaluation, and analyzed the sane data by both conventional quantification theory type I and rough set theory. Finally, we compared the effectiveness of both methods for extracting rules and examined the extensions of rough set theory in kansei engineering.