• 한국항공운항학회지
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• 제26권2호
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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.

• 한국운동역학회지
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• 제24권2호
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• pp.121-129
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• 2014

The purpose of this study was to investigate the effect of the toe headings on the biomechanics of knee joint in drop landing in an attempt to find the potential risk of non-contact anterior cruciate ligament (ACL) injury. Seventeen male college students ($20.5{\pm}1.1$ yrs; $175.2{\pm}6.4$ cm; $68.8{\pm}5.8$ kg), having no neuromuscular injury within an year, participated in this study. Three different toe headings such as toe-in (TI), neutral (N), and toe-out (TO) positions were tested. Motion capturing system consisting of eight high speed cameras and two force platforms were used to collect three-dimensional motion data and ground reaction force data during landing. Results indicated joint angles and peak joint moments were significantly affected by the toe headings. TI position produced larger valgus angle due to reduce knee distance in addition to higher flexion and valgus moment than other positions, which was somewhat vulnerable to the potential risk of non-contact ACL injury. TO position caused the largest internal rotation angle with smaller joint moments. Therefore, it is recommended that athletes need to land on the ground with neutral toe-heading position as possible in order to minimize the potential risk of non-contact ACL injury.

• 한국지구물리탐사학회:학술대회논문집
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• 한국지구물리탐사학회 2007년도 공동학술대회 논문집
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• pp.291-296
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• 2007

We measured potential waveform of load, displacement, micro electric signal generated by rock and mortar fracture using PXI A/D Converter. The rock type used for measurement was used granite, limestone and sandstone, and mortar specimen. we made measuring equipment of physical properties to confirm basic information of physical properties, measured physical properties of rock engineering, electric resistivity and seismic velocity. Potential waveform system was built using PXI A/D Converter and measured potential waveform of load, displacement, micro-electric signal generated using this during uniaxial compressive test by the specimen finished such test of physical properties. Using the saturated rock and mortar specimen, micro electric signal increased, and It didn't increase a signal in dried rock and mortar specimen according as load and strain rate increases. But signal also increased in saturated or dried specimen in case of sandstone. It was possible to check the close correlation relationship the signal and fracture behavior by a compressive load as the signal of fracture position was increased bigger than the other position. It was also possible to check the correlation relationship between physical properties and micro geo-electric signal.

• Annals of Clinical Neurophysiology
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• 제12권1호
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• pp.11-15
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• 2010

Background: In belly-tendon (bipolar) montage, reference (R2) electrode placed on muscle's tendon has traditionally been considered to be electrically inactive. However, recent studies have revealed that R2 electrode is not simply referential, but actively contributes to compound muscle action potential (CMAP) waveform morphology. These findings suggest that CMAP onset latency and amplitude may also be influenced by the position of R2 electrode. This study was performed in order to evaluate the effect of R2 electrode position on CMAP onset latency and amplitude. Methods: We performed motor nerve conduction studies of median, ulnar, tibial and peroneal nerves on bilateral limbs of 20 normal subjects. We used traditional bipolar and monopolar montage and compared their CMAP onset latencies and amplitudes. In bipolar montage, recording (R1) electrode was placed on mid-belly of muscle with R2 electrode on the tendon of the muscle. In monopolar montage, R1 electrode was placed on the same site of bipolar montage, while R2 electrode was placed on the contralateral limb. Results: The mean CMAP onset latencies of median and peroneal nerves in bipolar montage were significantly different (p<0.05) with those in monopolar montage. And those of ulnar and tibial nerves were not significantly different (p>0.05). The mean CMAP amplitudes of all the tested nerves except ulnar nerve were significantly different (p<0.05). Conclusions: This study shows that change in R2 electrode position can affect the CMAP onset latency and amplitude, and these differences seem to be related to the generation of far field potential by CMAP.

• 한국작물학회지
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• 제30권1호
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• pp.33-38
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• 1985

토양수분, 질소시비량 및 도복의 발생 유무가 소맥엽신의 기공개도에 미치는 영향을 알고져 소맥 조광 품종을 공시하여 침윤법으로 개화기에 기공개도의 일중변화를 조사하였던바 그 결과는 다음과 같다. 1. 기공이 폐공되는 시각은 토양수분 Potential이 낮을수록 빨라졌으며 폐공되는 정도도 컸었다. 2. 기공개도는 하위엽이 상위엽에 비하여 작았고 토양수분 Potential 이 낮을수록 기공개도의 감소정도는 더욱 컸다. 3. 도복된 맥체의 기공개도는 정상 맥체에 비하여 작았는데 그 경향은 토양수분 정도 및 측정시각에 관계없이 동일하였다. 4. 질소 보비구는 소비구에 비하여 기공개도가 큰 일중변화를 하였는데 도복구나 건조구에서도 같은 경향이었다. 5. 도복후 일수가 경과함에 따라 기공개도는 크게 감소하였는데 도복후 6 일에는 무도복구에 비하여 50％이하의 개도를 보였으며 그 감소정도는 하위엽이 더욱 컸으며 일중에서는 오후에 현저하였다.

• International Journal of Internet, Broadcasting and Communication
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• 제13권3호
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• pp.73-83
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• 2021

With the development of science and technology, virtual reality (VR) has become increasingly popular, being widely used in various fields such as aviation, education, medical science, culture, art, and entertainment. This technology with great potential has changed the way of human-computer interaction and the way people live and entertain. In the field of animation, virtual reality also brings a new viewing form and immersive experience. The paper demonstrates the production of VR animation and then discusses camera's position in VR animation. Where to place the VR camera to bring a comfortable viewing experience. The paper, with the proxemics as its theoretical framework, proposes the hypothesis about the camera position. Then the hypothesis is verified by a series of experiments in animation to discuss the correlation between camera position and proxemics theory.

• Journal of Electrical Engineering and Technology
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• 제7권2호
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• pp.225-229
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• 2012

This paper proposes a reduced-scale simulator that can replace numerical analytic methods for the estimation of potential distribution caused by ground faults in various grounding systems. The simulator consists of a hemispherical electrolytic tank, a three-dimensional potential probe, a grounding electrode, and a data acquisition module. The potential distribution is measured using a potentiometer with a position-tracing function when a test current flows to the grounding electrode. Using the simulator, we could clearly analyze the potential distribution for a reduced- scale model by one-eightieth of the buried depth and length of the grounding rod and grounding grid. Once both the shape of the grounding electrode and the fault current are known, the actual potential distribution can be estimated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• 대한조선학회논문집
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• 제61권3호
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• pp.170-184
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• 2024

With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.349-356
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• 2013

This paper presents formation control based on potential functions for unicycle robots. The unicycle robots move to formation position which is made from a reference point and neighboring robots. In the framework, a local minimum case occurred by combination of potential repulsed from neighboring robots and potential attracted from a formation line is presented, in which the robot escapes from a local minimum using a virtual escape point after recognizing trapped situation. As well, in the paper, potential functions are designed to keep the same distance between neighboring robots on a formation line, i.e. the relative distance between neighboring robots on a formation line is controlled by a potential function parameter. The simulation results show that the proposed approach can effectively construct straight line, V, and polygon formation for multiple robots.