• 대한화학회지
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• 제61권1호
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• pp.12-15
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• 2017

We presented a mapping the work function of the vanadium pentoxide ($V_2O_5$) nanonet structures by scanning Kelvin probe microscopy (SKPM). In this measurement, the $V_2O_5$ nanonet was self-assembled via dropping the solution of $V_2O_5$ nanowires (NWs) onto the $SiO_2$ substrate and drying the solvent, resulting in the networks of $V_2O_5$ NWs. We found that the SKPM signal as a surface potential of $V_2O_5$ nanonet is attributed to the contact potential difference (CPD) between the work functions of the metal tip and the $V_2O_5$ nanonet. We generated the histograms of the CPD signals obtained from the SKPM mapping of the $V_2O_5$ nanonet as well as the highly ordered pyrolytic graphite (HOPG) which is used as a reference for the calibration of the SKPM tip. By using the histogram peaks of the CPD signals, we successfully estimated the work function of ~5.1 eV for the $V_2O_5$ nanonet structures. This work provides a possibility of a nanometer-scale imaging of the work function of the various nanostructures and helps to understand the electrical characteristics of the future electronic devices.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1054-1059
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• 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.

• Bulletin of the Korean Chemical Society
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• 제30권6호
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• pp.1309-1312
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• 2009

Surface potential and growth processes of hexadecanethiol (HDT) self-assembled monolayers (SAMs) on Au(111) surfaces were examined by Kelvin probe method and scanning tunneling microscopy. It was found that surface potential strongly depends on surface structure of HDT SAMs. The surface potential shift for the striped phase of HDT SAMs chemisorbed on Au(111) surface was +0.45 eV, which was nearly the same as that of the flat-lying hexadecane layer physisorbed on Au(111) surface. This result indicates that the interfacial dipole layer induced by adsorption of alkyl chains is a main contributor to the surface potential change. In the densely-packed HDT monolayer, further change of the surface potential was observed, suggesting that the dipole moment of the alkanethiol molecules is an origin of the surface potential change. These results indicate that the work function of a metal electrode can be modified by controlling the molecular orientation of an adsorbed molecule.

• 한국생산제조학회지
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• 제7권1호
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• pp.9-21
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• 1998

This paper a new solution approach to moving obstacle avoidance problem of 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 terms 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 from 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 Advanced Research in Ocean Engineering
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• 제2권1호
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• pp.12-21
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• 2016

In this paper, the $2^{nd}$ order hydrodynamic force effect of heaving submerged circular cylinder is considered, with the linear potential theory. Boundary value problem (BVP) is expanded up to the $2^{nd}$ order by using of the perturbation method and the $2^{nd}$ order velocity potential is calculated by means of integral equation technique using the classical Green's function expressed in cylindrical coordinates. The method of solving BVP is based on eigenfunction expansions. With different cylinder heights and heaving frequencies, graphical results are presented. As a result of the study, the cause of oscillatory force pattern is analyzed with the occurrence of negative added mass when a top of the cylinder gets closer to the free surface.

• 한국정밀공학회지
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• 제15권6호
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• pp.107-115
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• 1998

A path planning using potential field method is very useful for the real-time navigation of mobile robots. However, the method needs high modeling cost to calculate the potential field because of complex preprocessing, and mobile robots may get stuck into local minima. In this paper, An efficient path planning algorithm for multiple mobile robots, based on the potential field method, was proposed. In the algorithm. the concepts of subgoals and obstacle priority were introduced. The subgoals can be used to escape local minima, or to design and change the paths of mobile robots in the work space. In obstacle priority, all the objects (obstacles and mobile robots) in the work space have their own priorities, and the object having lower priority should avoid the objects having higher priority than it has. In this paper, first, potential based path planning method was introduced, next an efficient collision-avoidance algorithm for multiple mobile robots, moving in the obstacle environment, was proposed by using subgoals and obstacle priority. Finally, the developed algorithm was demonstrated graphically to show the usefulness of the algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2360-2362
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• 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.

• 제어로봇시스템학회논문지
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• 제3권2호
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• pp.169-178
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• 1997

This paper presents a new solution approach to moving obstacle avoidance problem of a 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 three state variables: the distance from the obstacle to the robot, outward speed of the obstacle relative to the robot, and outward speed of the robot relative to the obstacle. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF, an artificial potential 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 from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid a moving obstacle in real time. Since the algorithm considers the mobility of the obstacle and robot as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• Interaction and multiscale mechanics
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• 제3권3호
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• pp.277-298
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• 2010

The complex variable reproducing kernel particle method (CVRKPM) and the FEM are coupled in this paper to analyze the two-dimensional potential problems. The coupled method not only conveniently imposes the essential boundary conditions, but also exploits the advantages of the individual methods while avoiding their disadvantages, resulting in improved computational efficiency. A hybrid approximation function is applied to combine the CVRKPM with the FEM. Formulations of the coupled method are presented in detail. Three numerical examples of the two-dimensional potential problems are presented to demonstrate the effectiveness of the new method.

• KIEE International Transactions on Electrophysics and Applications
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• 제5C권6호
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• pp.246-250
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• 2005

The forward voltage drop of IGBT is studied numerically and analytically as a function of gate length. An analytical expression is presented for the first time for the surface potential variation along the channel layer under the gate of IGBT. The surface potential drop and the carrier density near the surface allow calculation of the forward voltage drop of IGBT analytically as a function of the gate length. The voltage-drop in the drift region near the gate decreases exponentially, whereas that on the surface increases linearly with increasing the gate length, the sum of which exhibits an optimum gate length, resulting in a minimum forward voltage drop. Based on the surface potential drop, a remodelling of the forward voltage drop of IGBT is also proposed.