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Kevin Lynch,Daniel M. Lofaro,Paul Oh 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This work shows a plan for error state determination, diagnosis, and mitigation using autonomic computing tools and tecniques on the Hubo robot. An n-dimensional geometric enclosure is constructed from periodic measurements of the robot’s normal operating state. Similar hulls will be constructed for unique faults encountered during runtime. A mapping of these faults to applicable mitigations will be dynamically constructed and will aid in mitigation selection. The successful application of the mitigation will bring the robot back to a safe operating state.