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Preface - kmutt

Preface - kmutt

KMUTT Annual Research

KMUTT Annual Research Abstracts 2005 one robot using flexible tools such as rope. The concept of nonprehensile pulling where an object is not completely tied by a rope such that an object can roll or slide along the rope is the main focus of this study. The necessary condition for a stable nonprehensile pulling is defined. The mechanics of nonprehensile pulling is used to define the set of feasible motion directions of the object. This set of feasible motion directions of the object is then used for planning the coordination between two robots such that the task of object transportation can be achieved. The proposed analysis can also be extended for multiple objects transportation. This study provides a necessary basis required in developing an algorithm for a group of robots to autonomously cooperate such that the pulled object can be positioned and oriented in the 2D space. IC-362 KINEMATIC ANALYSIS FOR TASK- BASED RECONFIGURATION OF WHEEL- ARM ROBOTS Thavida Maneewarn, Somkid Suthaweesub The 12 th International Conference on Advanced Robotics (ICAR2005), July 18-20, 2005, Seattle, Washington, USA. This paper presents the idea of reconfiguring multiple mobile-manipulator platforms called Wheel-Arm robots to increase their mobility and functionality. The Wheel-Arm robot is designed to be a wheel robot with a 4 DOF arm that has ability to manipulate small objects and move on flat terrain. The Wheel- Arm can also reconfigure itself to be a different type of one-wheel robot. By connecting multiple Wheel-Arm robots in different configurations, the robot group achieves different functionality. This paper provides kinematic analysis for various types of configurations which explains how the change in configuration affects their functionality including numbers of degrees of freedom for locomotion, manipulation, the ability to climb over obstacles and the maximum force exertion. These kinematic indices can be used in the task-based reconfiguration process which selects the configuration that best matches the given task requirements. IC-363 AUGMENTED REALITY FOR SKILL TRANSFER IN ASSEMBLY TASK Nattapol Pathomaree, Siam Charoenseang 205 The 14 th IEEE International Workshop on Robot and Human Interactive Communication (RO- MAN 2005), August 13-15, 2005, Nashville, Tennessee, USA. In this research, an augmented reality is proposed to enhance the skill transfer in the assembly task. In this system, a user can see the additional graphics information superimposed on the real world scenes. Graphical instructions and virtual objects are used for advising the user with the assembly steps and the targeted positions in assembly task. Furthermore, the system's judgment component can guide the user for the sequences of assembly and check whether the user performs actions correctly. The experimental results show that the training system with augmented reality has high percentages of transferability and high transfer effectiveness ratio. The system can also reduce assembly completion times and the number of assembly steps. Moreover, the questionnaire results show that the users are very satisfied with this kind of system. Therefore, the training system embedded with an augmented reality would be a new trend to improve the user's skills. IC-364 THE FOOTSTEP PLANNING ALGORITHM FOR BIPED ROBOT WITH STEREOVISION Bantoon Srisuwan, Pasan Kulvanit, Djitt Laowattana The 3 rd International Conference on Computational Intelligence, Robotics, and Autonomous Systems (CIRAS 2005), December 13-16, 2005, Orchard Hotel, Singapore This paper suggests one of the possible solutions to the problem of the footstep planning for the biped robot. The Footstep planning is a very important mean for the biped robot to survive the real environment. The algorithm can be used to adjust the footstep parameters in realtime to avoid the static obstacles, to step over the ditches, or to approach the goal positions. We populate the search map with all possible maneuvers of the existing biped robot. The algorithm searches such topological map in a preorder fashion by applying the Depth First Search (DFS) algorithm. The objective of the search is to seek the minimal combination of existing maneuvers to drive the biped robot to the predetermined location. The goal location is International Conference

206 KMUTT Annual Research Abstracts 2005 obtained from the onboard stereovision system. The algorithm can be applied to any biped robots with guaranteed stable gait. In our case, we apply the algorithm to the statically stable gait small-sized biped robot with limited but sufficient number of stable maneuvers. The simulation results are given. Office of the President IC-365 RESEARCH COMMERCIALISATION AND INTELLECTUAL PROPERTY RIGHTS: KMUTT CASE STUDY Wanna Temsiripoj, Phongsri Waysarach The 4 th International Conference on ICT and Higher Education, September 28-30, 2005, Siam University, Bangkok, Thailand, pp. 116-123 This paper firstly, overviews the situation of the commercialisation of academic research and Intellectual Property Rights (IPRs) management in university and other Higher Education Institutions (HEIs). Currently, HEIs are fecing the reduction of their public funds. They have to generate their new income from commercial sources and collaborate with industry. HEIs also have adopted a more commercial attitude to their activities and have established mechanisms and strategies to exploit academic research in the forms of patent, copyright, licence and so on via university service units, such as Technology Licensing Office (TLO), which were founded to manage their commercial activities. Secondly, there are some problems/barriers to commercialise their research results, such as a lack of funding, a lack of market and management skills, and a problem of IPR ownership and agreement upon distribution of benefits and delays in publication. Lastly, a case study drawing from the King Mongkut's University of Technology Thonburi (KMUTT)'s situation of commercialisation of research results and IPR management is presented, before a concluding remark is made. International Conference

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    CONTENTS Page Preface International

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    National Journals

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    54 นอยกวาแบบต

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    56 (Least Square Matching Method)

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    58 อุณหภูมิ 30 แ

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    60 สเปกตรัม จา

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    62 ขอมูลดานทร

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    64 22.8 มาตรฐานเป

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    66 2545 NJ-033 EFFECTS OF ELEVATED

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    68 เปลือกที่ม

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    70 ของการดูดซ

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    72 การสกัดดวย

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    74 collection of authentic texts th

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    76 รอยละ 32 มีสา

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  • Page 217 and 218: 210 จอมเทียนปา
  • Page 219 and 220: 212 การสกัดสาร
  • Page 221 and 222: 214 ไดแก อุณหภู
  • Page 223 and 224: 216 โดยกลไกของ
  • Page 225 and 226: 218 เคลือบเมื่
  • Page 227 and 228: 220 สําเริง จัก
  • Page 229 and 230: 222 ลดเวลาตลอด
  • Page 231 and 232: 224 อุณหภูมิสู
  • Page 233 and 234: 226 NC-043 การวิเคร
  • Page 235 and 236: 228 เกิดพฤติกร
  • Page 237 and 238: 230 เดียว เพื่อ
  • Page 239 and 240: 232 มากนอยเพีย
  • Page 241 and 242: 234 หลักที่พบใ
  • Page 243 and 244: 236 NC-073 การออกแบ
  • Page 245 and 246: 238 บทความนี้น
  • Page 247 and 248: 240 นําเอาเวคเ
  • Page 249 and 250: 242 งานวิจัยนี
  • Page 251 and 252: 244 การอบแหงลด
  • Page 253 and 254: 246 แยกเฟสต่ํา
  • Page 255 and 256: 248 กลบ โดยเปรี
  • Page 257 and 258: 250 นํามาใช คือ
  • Page 259 and 260: 252 วิเคราะหหา
  • Page 261 and 262: 254 NC-123 การวิเคร
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    256 NC-129 เครื่องผ

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    258 สามารถขยาย

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    260 ครั้งที่ 43, 1-

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    262 calculated with the use of the

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    264 Version 1.3.1 และ Softwar

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    266 ขนไกได จากก

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    268 โครงสรางขอ

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    270 การปลูกพืช

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    272 ระดับพึงพอ

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    274 ของแกสโซฮอ

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    276 1) สภาพทั่วไ

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    278 อนุปริญญา แ

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    280 อาชีวศึกษา

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    282 กระทบตอคุณ

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    284 ตั้งกลไกแข

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    286 นุชจรินทร เ

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    288 โดยรวมผูบร

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    290 แนนกระแสไฟ

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    292 NC-222 ผลงานตีพ

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    294 NC-227 เตาเผาไห

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    296 จําเพาะรวม

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    298 NC-238 จลนพลศาส

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    300 ทนงเกียรติ

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    302 ดีเซลนั้นม

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    304 NC-254 การใชเทค

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    306 อาคารศูนยก

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    308 กระบวนการร

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    310 บรรยากาศขอ

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    312 metal ions on 2-AP biosyntheis

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    314 total clones while the ethanol

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    316 การประชุมท

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    318 BioThailand (The 16 th Annual M

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    320 สูงที่สุดพ

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    322 นัยสําคัญท

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    324 ความเขมขนร

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    326 ปลูกแบบพรา

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    328 นี้ทําใหทร

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    330 ดุลชาติ มาน

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    332 ไมโครเมตร ส

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    334 In this study, we collected seq

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    336 กนกรัตน นาค

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    338 การพัฒนาสื

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    340 one of the causes of difficulty

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    342 ทวีรัตน วิจ

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    344 program, Cytoscape. This model

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    346 production demand. Nevertheless

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    348 อุลตราไวโอ

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    350 นี้อยูในชว

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    352 เพื่อนําสว

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    354 trichloroacetic acid (TCA) ม

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    356 ทรัพยากรที

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    358 ในประเทศสห

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    360 8-9 ธันวาคม 2548,

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    362 ซึ่งเกิดขอ

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    364 NC-391 การวิเคร

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    366 การประชุมว

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    368 2547) พบวามหาว

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    370 กนกพร ลีลาเ

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    Authors Index

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    376 จงจิตร หิรั

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    378 ธ ธนธร ทองส

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    380 พยุงศักดิ์

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    382 วรรณพ วิเศษ

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    384 สุดารัตน จิ

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    386 อุลาวัณย กุ

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    388 138, 141, 142 Jarunya Narangaja

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    390 Panida Kongsawadworakul 191 Pan

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    392 Sorakrich Maneewan 124, 136 Sor

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    394 KMUTT Annual Research Abstracts

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