This paper proposes a method of avoiding obstacles and tracking a moving object continuously and simultaneously by using new concepts of virtual tow point and fuzzy danger factor for differential wheeled mobile robots. Since differential wheeled mobile robot has smaller degree of freedom to control and are non-holonomic systems, there exist multiple solutions (trajectories) to control and reach a target position. The paper proposes 'fuzzy danger factor' for obstacles avoidance, 'virtual tow point' to solve non-holonomic object tracking control problem for unique solution and three kinds of fuzzy logic controller. The fuzzy logic controller is policy decision controller with fuzzy danger factor to decide which controller's result is more valuable when the mobile robot is tracking a moving object with obstacles to be avoided.

During the communication and interaction with a human using motions or gestures, a humanoid robot needs not only to look like a human but also to behave like a human to make sure the meanings of the motions or gestures. Among various human-like behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle which is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate human-like arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate humanlike arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of its hand. The example motion was performed using the KIST humanoid robot, MAHRU.

아가리쿠스 버섯에 있어 각 온도별 건조 품질을 살펴보았다. 우선 갓과 대의 건조시간은 5에서 모두 29시간이었으며 10의 경우 갓과 대 모두 10시간 소요되었으며 실온에서 음건할 때에는 갓과 대가 모두 3일 정도 소요되었다. 수분감소율은 온도가 높을수록 켰으며, 부위별로는 5에서 초기감소율이 갓보다 대가 크게 나타났으며 최종수분함량은 갓이 대보다 적었다. 반면에 10와 실온에서 갓의 수분감소율이 켰으며, 최종수분함량은 갓이 적었다. 수분활성도는