• 전기학회논문지
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• 제64권10호
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• pp.1479-1485
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• 2015

Robot's technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot's path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.

• 한국지능시스템학회논문지
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• 제20권4호
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• pp.489-496
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• 2010

본 논문은 3D 환경에서의 스웜시스템을 위한 자기조직화 방법을 제시한다. 스웜 시스템의 자기조직화를 위하여 인력과 척력을 이용하는 인공 포텐셜 함수(Artificial Potential Function, 이하 APF)를 사용하였다. 제안된 연구에서는 2D 환경에서 자기조직화를 위해 사용되어왔던 다양한 포텐셜들을 3D 환경에 맞게 확장 설계한다. 지면이나 수면 등의 경계면을 가지는 3D 환경의 특성을 고려하여 지면 포텐셜(Ground Potential)을 제안한다. 지면 포텐셜을 고려하지 않았을 때와 고려할 때의 비교 결과를 통해 지면 포텐셜의 필요성과 효과를 보여준다. 마지막으로, 다양한 시뮬레이션 결과를 통해 3D 환경에서 확장된 인공포텐셜과 그 성질의 효율성을 보여준다.

• International Journal of Aeronautical and Space Sciences
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• 제18권4호
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• pp.719-728
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• 2017

This paper proposes a synthesis of new guidance law to generate an evasive maneuver against enemy's missile interception while considering its impact angle, acceleration, and field-of-view constraints. The first component of the synthesis is a new function of repulsive Artificial Potential Field to generate the evasive maneuver as a real-time dynamic obstacle avoidance. The terminal impact angle and terminal acceleration constraints compliance are based on Time-to-Go Polynomial Guidance as the second component. The last component is the Logarithmic Barrier Function to satisfy the field-of-view limitation constraint by compensating the excessive total acceleration command. These three components are synthesized into a new guidance law, which involves three design parameter gains. Parameter study and numerical simulations are delivered to demonstrate the performance of the proposed repulsive function and guidance law. Finally, the guidance law simulations effectively achieve the zero terminal miss distance, while satisfying an evasive maneuver against intercept missile, considering impact angle, acceleration, and field-of-view limitation constraints simultaneously.

• 한국환경과학회지
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• 제29권11호
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• pp.1089-1098
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• 2020

To assess the trophic function of an artificial macroalgal habitat, we compared the stable carbon and nitrogen isotope ratios of two amphipods (Caprella sp. and Ampithoe sp.) and their potential food sources in a transplanted macroalgal habitat (Grateloupia asiatica) with those in a natural habitat. There were no significant differences in the isotopic values of both consumers and their potential food sources between the transplanted and natural habitats. Such isotopic similarities between the two sites indicate a comparable resource consumer relationship. Additionally, our results showed similar isotopic niche areas and high dietary overlap (>65%) of the two amphipods between the transplanted and natural sites, suggesting that the transplanted habitat plays ecological roles similar to the natural habitat. Overall, isotopic assessment can provide information on the trophic function of diverse transplanted macroalgal habitats and improve post-monitoring efforts in the management of artificial ecosystems.

• 한국항공우주학회지
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• 제36권5호
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• pp.448-454
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• 2008

본 논문에서는 포텐셜 함수와 슬라이딩 모드 제어기법을 이용한 행동양식 기반의 분산형 군집비행 제어구조를 제안하였다. 군집비행 행동양식을 위해 각 개체의 상호작용을 포텐셜 함수로 표현하였으며, 군집형태를 유지하며 기준궤적을 추종하기 위해 군집중심점 제어기법을 제안하였다. 시스템의 불확실성과 임무환경에 의한 포텐셜 함수 변화에 대해 강건한 성능을 유지하기 위해 슬라이딩 모드 제어기법을 적용하여 제어기를 구성하고 안정성을 평가하였다. 또한 예상하지 못한 장애물에 대한 군집 회피기동을 위해 비행경로 수정기법을 제시하였다. 수치 시뮬레이션을 통해 제안한 군집비행 제어기법의 성능을 평가하였다.

• Journal of Electrical Engineering and information Science
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• 제1권1호
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• pp.129-139
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• 1996

The processor allocation problem in mesh multicamputers is to recognize and locate a free submesh that can accommodate a request for a submesh of a specified size. An efficient submesh allocation strategy is required for achieving high performance on mesh multicomputers. In this paper, we propose a new best-fit submesh allocation strategy for mesh multicomputers. The proposed strategy maintains and uses a free submesh list to get global information for free submeshes. For an allocation request the proposed strategy tries to allocate a best-fit submesh which causes the least amount of potential processor fragmentation so as to preserve the large free submeshes as many as possible for later requests. For this purpose, we introduce a novel function for quantifying the degree of potential fragmentation of submeshes. The proposed strategy has the complete submesh recognition capability. Extensive simulation is carried out t compare the proposed strategy with the previous strategies and experimental results indicate that the proposed strategy exhibits the best performance along with about 10% to 30% average improvement over the best previous strategy.

• 전기학회논문지
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• 제60권11호
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• pp.2147-2151
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• 2011

In this paper, we propose the formation control algorithm for swarm robots. The proposed algorithm uses the artificial potential field(APF) to plan the global path of swarm robots and to control the formation movement. The navigation function generates a global APF for a leader robot to reach a given destination and an avoidance function generates a local APF for follow robots to avoid obstacles. Finally, some simulations show the validity of the proposed method.

• Journal of Oral Medicine and Pain
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• 제23권3호
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• pp.241-247
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• 1998

Salivary research is at a critical crossroads regarding the clinical application of the basic knowledge. The purpose of this article is to introduce the current progress on salivary research to Korean dental scientists. The accumulated results based on advance technologies such as protein chemistry, molecular biology, and structural biology have showed that salivary macromolecules need structural requirements for proper function. Currently, several concepts or principles, which can be applied to salivary macromolecules, have been suggested. These include the role of molecules' conformation on biological activity, their multifunctional nature, their redundancy of function, their amphifunctional properties, and the potential importance of complexing between molecules. These concepts and the information available will help the development of saliva substitutes, the design of drug carriers and chimera molecules with enhanced function and the development of gene therapy protocols. These approaches will alleviate or restore lost salivary function and can be used to treat various kinds of oral and systemic diseases.

• 한국자동차공학회논문집
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• 제19권4호
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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.

• Tribology and Lubricants
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• 제11권5호
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• pp.40-46
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• 1995

This study concerns the design and development of the non-vibrating capacitance probe which could be used as a non-contact sensor for tribological wear. This device detects surface charge through temporal variation in the work function of a material. Experiments are performed to demonstrate the operation of the probe on a roating aluminum shaft. The reference electrode of the probe, made of lead, is placed adjacent (< 1.25-mm distance) to the shaft. Both surfaces which are electrically connected, form a capacitor. An artificial spatial variation in the work function is imposed on the shaft surface by coating a segment along the shaft circumference with a colloidal silver paint. As the shaft rotates, the reference electode senses changing contact potential difference with the shaft surface, owing to compositional variation. Temporal variation in the contact potential difference induces a current through the electrical connection. This current is amplified and converted to a voltage signal by an electoronic circuit with an operational amplifier. The magnitude of the signal decreases asymptotically with the electrode-shaft distance and increases linearly with the rotational frequency. These results are consistent with the theoretical model. Potential applications of the probe on wear monitoring are proposed.