• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.17 no.12
• /
• pp.2937-2943
• /
• 2013

This paper introduces a real-time flocking simulation framework through radial basis function(RBF). The proposed framework first divides the entire environment into a grid structure and then assign a vector per each cell. These vectors are automatically calculated by using RBF function, which is parameterized from user-input control lines. Once the construction of vector field is done, then, flocks determine their path by following the vector field flow. The collision with static obstacles are modeled as a repulsive vector field, which is ultimately over-layed on the existing vector field and the inter-individual collision is also handled through fast lattice-bin method.

• Tribology and Lubricants
• /
• v.23 no.6
• /
• pp.283-287
• /
• 2007

Permanent-magnet (PM) passive bearings use the repulsive forces between the rotor and the stator magnets for the bearing function. It is desirable that the stiffness of the bearing is maximized with the given volume of the magnet. The stiffness is affected by the magnet strength, the number of layers, and the magnetization patterns. Previously, finite-element method (FEM) has been used to maximize the stiffness of the bearing. In this paper, we used the equivalent current sheet method to calculate the stiffness. The validity of this approach is checked against FEM results. The optimized bearing is applied to a micro flywheel energy storage system.

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

• Bulletin of the Korean Chemical Society
• /
• v.24 no.6
• /
• pp.771-776
• /
• 2003

The structural and dynamic properties of small n-alkane clusters embedded in a mesoscopic solvent are investigated. The solvent interactions are taken into account through a multi-particle collision operator that conserves mass, momentum and energy and the solvent dynamics is updated at discrete time intervals. The cluster molecules interact among themselves and with the solvent molecules through intermolecular forces. The properties of n-heptane and n-decane clusters interacting with the mesoscopic solvent molecules through repulsive Lennard-Jones interactions are studied as a function of the number of the mesoscopic solvent molecules. Modifications of both the cluster and solvent structure as a result of cluster-solvent interactions are considered. The cluster-solvent interactions also affect the dynamics of the small n-alkane clusters.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2005.11a
• /
• pp.519-522
• /
• 2005

This paper presents a self-organizing scheme for multi-agent swarm systems based on coupled nonlinear oscillators (CNOs). In this scheme, unicycle robots self-organize to flock and arrange group formation through attractive and repulsive forces among themselves. It is also shown how localized distributed controls are utilized throughout group behaviors such as formation and migration. In the paper, the proposed formation ensures safe separation and good cohesion performance among the robots. Several examples show that the proposed method for group formation performs the group behaviors such as reference path following, obstacle avoidance and flocking, and the formation characteristics such as flexibility and scalability, effectively.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.5 no.3
• /
• pp.222-229
• /
• 2005

This paper presents a self-organizing scheme for multi-agent swarm systems based on coupled nonlinear oscillators (CNOs). In this scheme, unicycle robots self-organize to flock and arrange group formation through attractive and repulsive forces among themselves. The main result is the maintenance of flexible and scalable formation. It is also shown how localized distributed controls are utilized throughout group behaviors such as formation and migration. In the paper, the proposed formation ensures safe separation and good cohesion performance among the robots. Several examples show that the proposed method for group formation performs the group behaviors such as reference path following, obstacle avoidance and flocking, and the formation characteristics such as flexibility and scalability, effectively.

• Bulletin of the Korean Chemical Society
• /
• v.7 no.2
• /
• pp.124-129
• /
• 1986

The effects of molecular attraction and orientations for the energy mismatch variance, vibrational energy level and double-quantum transition, in the vibration-vibration energy exchange, have been considered. The contribution of molecular attraction increases the exchange rate of the purely repulsive interaction, in general, significantly, but which becomes smaller as the temperature is increased. As the energy mismatch is increased, its contribution is also increased, but which is small. However, its contribution for the double-quantum transition is very paramount. At each orientation, the exchange rate constants have been calculated and compared with the results for rotational average, and it is found that the exchange rate is a strong function of the orientation angles of colliding molecules. We have also discussed about the system having the strong interaction such as the hydrogen bond, and it is found that for this system the preferred orientation should be considered in order to calculate the exchange rates.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1054-1059
• /
• 2005

The artificial potential method uses a potential field to guide a robot from a start to a goal configuration respectively. The potential field consists of attractive potential used to pull a robot toward a goal and repulsive potential to keep it away from obstacles. However, there are two problems concerning local minimum and computational cost to be resolved in conventional artificial potential methods. This study proposes a method utilizing a spline surface that interpolates arbitrary boundaries and a domain reduction method that reduces the unnecessary area. The proposed spline surface interpolates arbitrary shaped boundaries and is used as an artificial potential to guide a robot for global motion planning of a mobile robot. A reduced domain process reduces the unnecessary domain. We apply a distance-weighted function as such a function, which blends distances from each boundary with a reduction in computational time compared with other analytical methods. As a result, this paper shows that an arbitrary boundary spline surface provides global planning and a domain reduction method reduces local minimum with quick operation.

• Proceedings of the KIEE Conference
• /
• 1998.07g
• /
• pp.2360-2362
• /
• 1998

This paper presents a new collison-free trajectory problem for SCARA robot manipulator. we use artificial potential field for collison detection and avoidance. The potential function is typically defined as the sum of attractive potential pulling the robot toward the goal configuration and a repulsive potential pushing the robot away from the obstacles. In here, end-effector of manipulator is represented as a particle in configuration space and moving obstacles is simply represented, too. we consider not fixed obstacle but moving obstacle in random. So, we propose new distance function of artificial potential field with moving obstacle for SCARA robot. At every sampling time, the artificial potential field is update and the force driving manipulator is derived from the gradient vector of artificial potential field. To real-time path planning, we apply very simple modeling to obstacle. Some simulation results show the effectiveness of the proposed approach.

• Journal of KIISE:Computer Systems and Theory
• /
• v.34 no.5_6
• /
• pp.202-213
• /
• 2007

A network is an important model widely used in natural and social science as well as engineering. To analyze these networks easily it is necessary that we should layout the features of networks visually. These Graph-Layout researches have been performed recently according to the development of the computer technology. Among them, the Scale-free Network that stands out in these days is widely used in analyzing and understanding the complicated situations in various fields. The Scale-free Network is featured in two points. The first, the number of link(Degree) shows the Power-function distribution. The second, the network has the hub that has multiple links. Consequently, it is important for us to represent the hub visually in Scale-free Network but the existing Graph-layout algorithms only represent clusters for the present. Therefor in this thesis we suggest Graph-layout algorithm that effectively presents the Scale-free network. The Hubity(hub+ity) repulsive force between hubs in suggested algorithm in this thesis is in inverse proportion to the distance, and if the degree of hubs increases in a times the Hubity repulsive force between hubs is ${\alpha}^{\gamma}$ times (${\gamma}$??is a connection line index). Also, if the algorithm has the counter that controls the force in proportion to the total node number and the total link number, The Hubity repulsive force is independent of the scale of a network. The proposed algorithm is compared with Graph-layout algorithm through an experiment. The experimental process is as follows: First of all, make out the hub that exists in the network or not. Check out the connection line index to recognize the existence of hub, and then if the value of connection line index is between 2 and 3, then conclude the Scale-free network that has a hub. And then use the suggested algorithm. In result, We validated that the proposed Graph-layout algorithm showed the Scale-free network more effectively than the existing cluster-centered algorithms[Noack, etc.].