• 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.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.97-101
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• 1991

A three-dimensional magnetostatic problem is analyzed using the boundary element method and the magnetic scalar potential are employed in order to reduce the size of system matrix. Although the total magnetic scalar potential gives very accurate solutions in inner and outer regions of magnetic material, it has limitation on application because the magnetic scalar potential due to applied magnetic field sources is hard to be obtained. The reduced magnetic scalar potential gives more or less inaccurate solutions inside the magnetic material but very accurate solutions outside. Hence it can be concluded that the reduced magnetic scalar potential is very useful when the magnetic fields of outside magnetic material only are interested. It is also shown, from the numerical results, that the linear shape function gives more efficient solutions than the constant shape functions because the former gives more accurate solutions in spite of relatively fewer unknowns than the latter.

• Proceedings of the KIEE Conference
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• 2000.11b
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• pp.262-264
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• 2000

A numerical method for the analysis of 3D eddy current in conductors due to applied time varying field is suggested using the finite element method. In the approximation of the field quantifies, the edge element is used, because it reduce the required computer memory and the computing time compared with the nodal elements. With edge elements, furthermore, the field governing equations become simple because the electric scalar potential ${\phi}$ can be set to zero. The modified magnetic vector potential($A^*$) is used as a state variable. The analysed results are compared with the experimentally measured ones for the TEAM workshop problem3.

• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.290-292
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• 1994

This paper presents a methodology for the electric field analysis of substation. For the electric field analysis of substation, the electrodes(substation busbars) must be represented by finite line with nonlinear charge density. In the case of dividing finite line into uniform segments, a large number of variables have to be used to obtain the accuracy within a desired tolerance. To deal with the problem, nonuniform charge arrangement modeling method is suggested. To reduce potential calculation errors, the linear charge density function is considered particularly for the segment charge model ling. If the charge arrangement is improper, the accuracy not improved regardless of increment in the number of segments. This paper proposes an optimal charge arrangement method through potential error analysis. And, the optimal charge arrangement function is formulated by a lot of simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.690-693
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• 2004

This paper proposes a multi-resolution electrostatic potential field (MREPF) based solution to the mobile robot path planning and collision avoidance problem in 2D dynamic environment. The MREPF is an environment method in calculation time and updating field map. The large scale resolution map is added to EPF and this resolution map interacts with the small scale resolution map to find an optimal solution in real time. This approach can be interpreted with Atlantis model. The simulation studies show the efficiency of the proposed algorithm.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.88-93
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• 1998

This paper presents a new solution approach to moving obstacle avoidance problem for a mobile robot. A new concept avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terns of the VDF, an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived form the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1481-1486
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• 2013

In this paper, a new two dimensional (2D) analytical model of a Dual Material Gate tunnel field effect transistor (DMG TFET) is presented. The parabolic approximation technique is used to solve the 2-D Poisson equation with suitable boundary conditions. The simple and accurate analytical expressions for surface potential and electric field are derived. The electric field distribution can be used to calculate the tunneling generation rate and numerically extract tunneling current. The results show a significant improvement of on-current and reduction in short channel effects. Effectiveness of the proposed method has been confirmed by comparing the analytical results with the TCAD simulation results.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.20 no.5
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• pp.471-477
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• 2007

SCBF(Spherically Convergent Beam Fusion) device has been studied as a neutron source. Neutron production rate is a most important factor for the application of SCBF device and is proportional to the square of the ion current[1]. It is regarded generally that some correlations between the potential well structure and the ion current exist. In this paper, the ion current and potential distribution were calculated in a variety of grid cathode geometries using FEM-FCT method. Single potential well structure was certified inside the grid cathode. The deeper the potential well became, the higher the ion current due to the high electric field near the grid cathode became.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.16 no.4
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• pp.117-123
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• 2002

Measurement of ground resistance is the basic and important procedure to evaluate the proriety of grounding systems performance. In the field, however, it is not an easy task to measure ground resistance accurately, because locating a right position of zero potential for accurate GPR(Ground Potential Rise) measurement is very difficult, especially in case of a grounding electrode with large dimension. In this paper, the estimation method of ground resistance by analysing earth surface potential distribution around the grounding electrodes has been described.

• 한국신재생에너지학회:학술대회논문집
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• 2008.10a
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• pp.332-333
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• 2008

This paper presents an estimation method of national wind resource potential using a national and GIS(Geographical Information System). The wind resource potential is classified into theoretical, geographical and technical potentials and each category narrows down the previous definition by excluding impossible area to be developed as a wind farm using GIS datasets for onshore and offshore. As a basic unit of wind energy potential at a certain area, API(Average Power Intercepted) is calculated from WPD(Wind Power Density) given by a national wind map which is established by numerical wind simulation, so that a logical and relatively accurate potential estimation is possible comparing with other methods based on a field measurement interpolation which is inevitable to avoid critical assumptions.