• 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.

• Korean Journal of Exercise Nutrition
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• v.13 no.1
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• pp.15-21
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• 2009

Ergogenic aids are substances, devices, and practices that enhance an individual's energy use and production, and recovery from fatigue. L-carnitine increases enhance performance and aerobic capacity by stimulating lipid oxidation in muscle cells during long term exercise. L-carnitine is a well known and widely used ergogenic aid. In the present study, the effect of L-carnitine at concentrations of 100 nM, 1 μM, 10 μM, and 100 μM on the amplitude of field potential in rat cardiac muscle slices was measured using multi-channel extracellular recording (MED 64) system. In the present result, L-carnitine was shown to enhance field potential as a does-dependent manner. The increasing effect of the L-carnitine on field potential was not affected by application of the glibenclamide, an ATP-dependant K⁺ channel antagonist. The increasing effect of L-carnitine on field potential was suppressed by application of the diazoxide, an ATP-dependent K⁺ channel agonist. Present data show that L-carnitine potentiates field potentials by inhibition on ATP-dependant K⁺ channel in cardiac muscles. The enhancing effect of the L-carnitine on the field potential in cardiac muscles can be suggested as one of the underlying mechanism of ergogenic aid of the L-carnitine.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.25 no.4
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• pp.149-161
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• 2021

This study proposes a methodology for mission/path planning of an unmanned aerial vehicle (UAV) using an artificial potential field with the Markov Decision Process (MDP). The planning problem is formulated as an MDP. A low-resolution solution of the MDP is obtained and used to define an artificial potential field, which provides a continuous UAV mission plan. A numerical case study is conducted to demonstrate the validity of the proposed technique.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.2
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• pp.291-297
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• 2012

In this paper, potential field algorithm was used for path planning in dynamic environment. This algorithm is used to plan a robot path because of its elegant mathematical analysis and simplicity. However, there are some problems. The problems are problem of collision risk, problem of avoidance path, problem of time consumption. In order to solve these problems, we fused potential field with fuzzy system. The input of the fuzzy system is set using relative velocity and location of robot and obstacle. The output of the fuzzy system is set using the weighting factor of repulsive potential function. The potential field algorithm is improved by using fuzzy potential field algorithm and, path planning in various environment has been done.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.701-705
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• 2006

This paper propose a method of mobile robot path planning for prevention of slip using potential field. The path planning minimizes robot slip for the potential field method to smooth a potential barrier. In order to verify the effectiveness of the proposed method, we performed simulations on path planning with C-obstacles in the workspace. The results show that the proposed method considerably improves on the performance of the general potential field method.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.737-742
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• 2009

The popularity of autonomous mobile robots have been rapidly increasing due to their new emerging application area, from room cleaning, tourist guidance to space explorations. However, the development of a satisfactory control algorithm that will enable the autonomous mobile robots to navigate safely especially in dynamic environments is still an open research problem. In this paper, a newly proposed potential field based control method is implemented, analyzed, and improvements are suggest based on experimental results obtain from computer simulations. The experimental results are presented to show the effectiveness of the behavior-based control using the proposed potential field generation technique.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2000.04a
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• pp.71-74
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• 2000

The equi-potential lines designed in the electric field are introduced to find the preform shape in axisymmetric hot forging. The equi-potential lines generated between two conductors of different voltages show similar trends of the minimum work paths between the undeformed shape and the deformed shape. Base on this similarity the equi-potential lines obtained by arrangement of the initial and final shapes are utilized for the design of preform and then the artificial neural network is used to find the range of initial volume and potential value of the electric field.

• Geophysics and Geophysical Exploration
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• v.5 no.3
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• pp.199-205
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• 2002

In the resistivity method, the potential difference between two grounded electrodes is measured and this can be positive or negative. The apparent resistivity and the potential difference have the same polarity. Since the electric field is the gradient of the potential, the polarity of the potential difference depends on the direction of the electric field. If the direction of the vector connecting two grounded electrodes is the same to that of the electric field, the measured potential difference and the apparent resistivity become positive. If the opposite is the case, they become negative. In general, the primary electric field and the vector connecting two potential electrodes have the same direction in a surface resistivity method. In this case, the measured potential difference is always positive because the primary electric field is greater than the secondary field. Therefore, the apparent resistivity is always positive if noise is free and topography is flat. The secondary field component, however, can be greater than the primary field component along the vector connecting two potential electrodes in the cross-hole resistivity method. Furthermore, if the secondary electric field and the vector connecting two potential electrodes have an opposite direction, the apparent resistivity become negative. Consequently, the apparent resistivity may be negative in the region where the primary electric field component along the vector connecting two potential electrodes is very small.

• Communications of the Korean Mathematical Society
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• v.36 no.1
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• pp.165-171
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• 2021

The purpose of this paper is to investigate the geometry of complete gradient Yamabe soliton (Mn, g, f, λ) with constant scalar curvature admitting a non-homothetic conformal vector field V leaving the potential vector field invariant. We show that in such manifolds the potential function f is constant and the scalar curvature of g is determined by its soliton scalar. Considering the locally conformally flat case and conformal vector field V, without constant scalar curvature assumption, we show that g has constant curvature and determines the potential function f explicitly.

• 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.