• Journal of the Chungcheong Mathematical Society
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• v.32 no.1
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• pp.23-28
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• 2019

In this paper, we consider an interaction energy with attractive-repulsive potential. We survey recent results on the structure of global minimizers for the mildly repulsive interaction energy. We introduce a theorem which is important to the proof of the above results, and give a detailed proof of the theorem.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.1
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• pp.15-19
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• 2009

This paper presents the potential field for mobile robot path planning. The proposed repulsive potential has weighted parts, which consists of conventional repulsive potential and goals nonreachable with obstacles nearby repulsive potential. It ensures the global minimum of the total potential when the robot approaches goals near obstacle and the robot passes the adjacent obstacles. Simulation results shows that the proposed potential is better than conventional potentials.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.26 no.2
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• pp.47-53
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• 2018

In this paper, we investigate a collision avoidance algorithm for unmanned aerial vehicles using potential field based on the relative velocity of obstacles. The potential field consists of the attraction force and the repulsive force that are generated for the target and the obstacles. And the field can be classified into the attractive potential field generated by the target and the repulsive potential field generated by the obstacle, respectively. In this study, we construct an attractive potential field as a function of the distance between the UAV and the target position. On the other hand, a repulsive potential field is created by a function of distance and the relative velocity of the obstacle with respect to the UAV. The proposed potential field based collision avoidance algorithm is evaluate through simulations.

• Bulletin of the Korean Chemical Society
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• v.30 no.3
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• pp.567-572
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• 2009

In this study, the effects of counter ion valency of the electrolyte on the colloidal repulsion between two parallel cylindrical particles were investigated. Electrostatic interactions of the cylindrical particles were calculated with the variation of counter ion valency. To calculate the electrical repulsive energy working between these two cylindrical particles, Derjaguin approximation was applied. The electrostatic potential profiles were obtained numerically by solving nonlinear Poission-Boltzmann (P-B) equation and calculating middle point potential and repulsive energy working between interacting surfaces. The electrical potential and repulsive energy were influenced by counter ion valency, Debye length, and surface potential. The potential profile and middle point potential decayed with the counter ion valency due to the promoted shielding of electrical charge. On the while, the repulsive energy increased with the counter ion valency at a short separation distance. These behaviors of electrostatic interaction agreed with previous results on planar or spherical surfaces.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.9 no.2
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• pp.224-230
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• 1999

Agglomeration of colloidal alumina particles in a suspension is simulated. Particles in a suspension have potential energies between them and move to decrease the summation of all the potential energies between particles. The effects of various types of potential curves on particle agglomeration were checked. Strong short range attractive energy without repulsive energy barrier makes small strong clusters with disordered network structure but weak short-range force with big repulsive energy barrier makes big agglomerates with a close packing structure. As particles are agglomerated the potential energy with strong repulsive energy barrier between agglomerates gradually decreases the importance of the repulsive energy barrier and induces a different type of agglomeration behavior.

• Bulletin of the Korean Chemical Society
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• v.29 no.6
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• pp.1131-1136
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• 2008

The electrical repulsive energy between two model cylinders was calculated by solving nonlinear Poission- Boltzmann (P-B) equation under Derjaguin approximation. Effects of the surface potential, Debye screening length, and configuration of cylinders on the repulsive interaction energy were examined. Due to the anisotropy of the shape of cylinder, the interaction repulsive energy showed dependence to the configuration of particles; cylinders aligned in end-to-end configuration showed largest repulsive energy and crossed particles had lowest interaction energy. The configuration effect is originated from the curvature effect of the interacting surfaces. The curved surfaces showed less repulsive energy than flat surfaces at the same interacting surface area. The configuration dependency of interaction energy agreed with the previous analytical solution obtained under the linearized P-B equation. The approach and results present in this report would be applicable in predicting colloidal behavior of cylindrical particles.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.4
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• pp.8-15
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• 2011

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.416-422
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• 2013

This paper suggests a hybrid path planning method of multi-robots, where a path deviation prevention for maintaining a specific formation is implemented by using repulsive function, $A^*$ algorithm and UKF (Unscented Kalman Filter). The repulsive function in potential field method is used to avoid collision among robots and obstacles. $A^*$ algorithm helps the robots to find optimal path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The simulation results show that the swarm robots with designated formation successfully avoid obstacles and return to the assigned formation effectively.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.4
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• pp.76-83
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• 2003

To cope with stringent performance targets requested in many fields spanning the whole range of industry, the driver is necessary to realize large dynamic range as well as nano resolution, manipulate the mover orientation without additional driver, and be suitable for clean environment. As one of those purposes, authors have developed the planar precision stages with the integrated operating principle of levitation and propel. In this paper, we discuss potential of magnetic suspension technology by comparing various features of non-contact planar stages, that is, repulsive type of surface actuator and attractive type of surface actuator.