• International Journal of Aeronautical and Space Sciences
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• 제6권2호
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• pp.56-63
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• 2005

Some methods have been presented to avoid collisions among satellites for satellite formation flying mission. The potential function method based on Lyapunov's theory is known as a powerful tool for collision avoidance in the robotic system because of its robustness and flexibility. During the last decade, a potential function has also been applied to UAV's and spacecraft operations, which consists of repulsive and attractive potential. In this study, the controller is designed using a potential function via sliding mode technique for the configuration of satellite formation flying. The strategy is based on enforcing the satellite to move along the gradient of a given potential function. The new scalar velocity function is introduced such that all satellites reach the goal points simultaneously. Simulation results show that the controller drives the satellite toward the desired point along the gradient of the potential function and is robust against external disturbances.

• 정보과학회 논문지
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• 제42권10호
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• pp.1231-1238
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• 2015

본 논문은 신호등 신호에 따른 자율 주행 (또는 반-자율 주행) 차량의 주행 제어를 위한 인공 전위 함수(artificial potential function)를 제안한다. 신호등은 보행자의 안전과 직결된 일반적이면서도 가장 중요한 교통 신호 중 하나로서, 도로 위 자율 주행을 위해서는 차량이 교통 신호를 준수하게 해주는 주행 알고리즘의 설계가 중요하다. 본 논문은 세 가지 신호 색(녹색, 노랑, 빨강)으로 구성된 차량 신호등의 신호에 따라 차량의 움직임을 제어할 수 있는 인공 전위 함수를 제안한다. 제안된 인공 전위 함수는 세 가지 신호 색 각각에 대한 인공 전위 함수들로 구성되며, 신호에 따라 전위 함수가 전환되며 인공 전위 장(artificial potential field)을 변화시킨다. 제안된 신호등 전위 함수는 차량 주행을 위한 기존의 인공 전위 함수들과 결합되어 최종 인공 전위 장을 생성한다. 제안하는 방법은 시뮬레이션을 통해 다양한 신호등 상황에 대해 실험되었으며, 신호등의 신호에 따라 차량이 자연스럽게 반응하는 모습을 보여준다.

• 대한조선학회논문집
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• 제50권5호
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• pp.307-313
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• 2013

This paper presents a simulation for passenger ship evacuation considering determination of evacuating direction based on walking direction potential function. In order to determine walking direction of a passenger, his/her position in two dimensional plane was adopted as a design variable, and fixed boundaries such as walls and obstacles were adopted as constraints. To solve this optimum problem, a walking direction potential function was adopted as an objective function. This potential function was configured as a kind of penalty function and it contained two components. One is a potential function concerned with the distance to the destination, and other is a potential function based on the effect of walls and obstacles. To determine evacuating direction, this problem was solved by minimizing the walking direction potential function every unit time during the simulation. The crowd behavior of the passenger consisted of the flock behavior, a form of collective behavior of a large number of interacting passengers with a common group. With the proposed algorithm, the test problems in International Maritime Organization, Maritime Safety Committee/Circulation 1238(IMO MSC/Circ.1238) were implemented and the direction of passengers and total evacuation time was analyzed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1140-1143
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• 1996

A new approach based on artificial potential function is proposed for the obstacle avoidance of redundant manipulators. Unlike the so-called "global" path planning method, which requires expensive computation for the path search before the manipulator starts to move, this new approach, "local" path planning, researches the path in real-time using the local distance information. Previous use of artificial potential function has exhibited local minima in some complex environments. This thesis proposes a potential function that has no local minima even for a cluttered environment. This potential function has been implemented for the collision avoidance of a redundant robot in Simulation. The simulation also employ an algorithm that eliminates collisions with obstacles by calculating the repulsive potential exerted on links, based on the shortest distance to object.

• 대한수학회논문집
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• 제12권2호
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• pp.293-303
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• 1997

The existence theorem for the operator valued function space integral has been studied, when the wave function was in $L_1(R)$ class and the potential energy function was represented as a double integra [4]. Johnson and Lapidus established the existence theorem for the operator valued function space integral, when the wave function was in $L_2(R)$ class and the potential energy function was represented as an integral involving a Borel measure [9]. In this paper, we establish the existence theorem for the operator valued function we establish the existence theorem for the operator valued function space integral as an operator from $L_1(R)$ to $L_\infty(R)$ for certain potential energy functions which involve double integrals with some Borel measures.

• Journal of applied mathematics & informatics
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• 제7권3호
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• pp.719-738
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• 2000

A dual algorithm based on the smooth function proposed by Polyak (1988) is constructed for solving nonlinear programming problems with inequality constraints. It generates a sequence of points converging locally to a Kuhn-Tucker point by solving an unconstrained minimizer of a smooth potential function with a parameter. We study the relationship between eigenvalues of the Hessian of this smooth potential function and the parameter, which is useful for analyzing the effectiveness of the dual algorithm.

• 대한기계학회논문집A
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• 제33권5호
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• pp.496-501
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• 2009

In micro electrochemical machining(micro-ECM), it is important to measure and control the potential of a tool electrode and a workpiece electrode because electrochemical reaction rate depends on the potential of the electrodes. When the electrode potential was measured against a reference electrode, the error of measured electrode potential could be minimized by proper tool electrode design. In this paper, multi-function electrodes consisting of a tool electrode and a reference electrode was fabricated by micro fabrication techniques. The machining conditions in micro-ECM using multi-function electrodes, such as pulse voltage parameters and electrode potential, were investigated.

• Bulletin of the Korean Chemical Society
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• 제15권3호
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• pp.228-236
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• 1994

The effect of the vibration mode coupling induced by the vibration-rotation interaction on total energy was investigated for the states with zero total angular momentum(J=0) in a quasilinear symmetric triatomic molecule of $AB_2$ type using a model potential function with a slight potential barrier to linearity. It is found that the coupling energy becomes larger for the levels of bend and asymmetric stretch modes and smaller for symmetric stretch mode as the excitation of the vibrational modes occurs. The results for the real molecule of $CH_2^+$, which is quasilinear, generally agree with the results for the model potential function in that common mode selective dependence of coupling energy is exhibited in both cases. The differences between the results for the model and real potential function in H-C-H system are analyzed and explained in terms of heavy mixing of the symmetric stretch and bend mode in excited vibrational states of the real molecule of $CH_2^+$. It is shown that the vibrational mode coupling in the potential energy function is primarily responsible for the broken nodal structure and chaotic behavior in highly excited levels of $CH_2^+$ for J= 0.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.266-268
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• 2005

Recently, the ability of sensing obstacles by oneself and creating suitable moving path in mobile robots are required to provide various kinds automation services. Therefore, in this paper, we studied the avoidance behavior of mobile robots from dynamic obstacles using potential function that minimizes distance and time. We examined the performance of the proposed algorithm by comparing the method of based on the geometrical experience in simulations.

• Structural Engineering and Mechanics
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• 제5권6호
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• pp.775-784
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• 1997

A unified theory is presented for the shape analysis of curved surface with a single layer structure composed by frame, membrane or shell. The shapes produced by the theory have no shear stress in elements, and the stress states in the whole shape are as uniform as possible under an ordinary load. The theory starts from defining an element potential function expressed by the measurement of the element length or the element area. Therefore, the shape analysis can produce various forms according to the definition of the potential function, and each of those form or the cable net form with the potential function of the second power of element length is simply gotten by the linear analysis. The form in tensile stress is mechanically equal to an isotropic tension form.