Autonomous mobile robots based on the Web have been already used in public places such as museums. There are many kinds of problems to be solved because of the limitation of Web and the dynamically changing environment. We present a methodology for intelligent mobile robot that demonstrates a certain degree of autonomy in navigation applications. In this paper, we focus on a mobile robot navigator equipped with neuro-fuzzy controller which perceives the environment, make decisions, and take actions. The neuro-fuzzy controller equipped with collision avoidance behavior and target trace behavior enables the mobile robot to navigate in dynamic environment from the start location to goal location. Most telerobotics system workable on the Web have used standard Internet techniques such as HTTP, CGI and Scripting languages. However, for mobile robot navigations, these tools have significant limitations. In our study, C# and ASP.NET are used for both the client and the server side programs because of their interactivity and quick responsibility. Two kinds of simulations are performed to verify our proposed method. Our approach is verified through computer simulations of collision avoidance and target trace.

This study presents intelligent deburring system which can transfer the exper's skill to deburring robot through neural network. The expert's skill is expressed as associate mapping between the characteristics of the burr and human expert's action. Under the fundamental idea that the state of the deburring process can be extracted via the visual sense of the human, we employ vision system for the perception and identification of the changing burr. From the demonstration of human experts, force data are measured and fitted impedance model. Finally the characteristics of the burr and coressponding force are associated by the neural network which is trained through many demonstrations. The proposed method is verified in the deburring process of welding burr.

1. 반구형 각의 분포 및 집중하중에 의한 좌굴응력 해석은 변형된 각의 형상에 따라 타원체 각의 응력으로 해석함이 타당하다. 2. 일정 한계이상의 형상계수를 갖는 반 구형각에 대하여서는 재료상수를 형상계수의 승수로 고려한 수정된 임계좌굴 하중으로 탄소성 좌굴을 판정함이 더 양호한 결을 준다. 3. 탄소성 좌굴에 있어서 소모된 소성변형 에너지를 계산하기 위하여 항성변형 에너지를 계산하기 위하여 항상선를 따르는 에너지법을 이용하면 양호한 결과를 얻을 수 있다.