• 한국군사과학기술학회지
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• 제14권6호
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• pp.965-973
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• 2011

Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.

• 전기학회논문지
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• 제61권1호
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• pp.130-134
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• 2012

In this paper, we propose a space partitioning technique for swarm robots by using the Centroidal Voronoi Tessellation. The proposed method consists of two parts such as space partition and collision avoidance. The space partition for searching a given space is carried out by a density function which is generated by some accidents. The collision avoidance is implemented by the potential field method. Finally, the numerical experiments show the effectiveness and feasibility of the proposed method.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2023년도 춘계학술대회
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• pp.265-266
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• 2023

With the development of science and technology, various research on ship collision avoidance has also developed rapidly. The research and development of ship collision avoidance technology has also received high attention from many researchers. This paper proposes a new collision avoidance algorithm for ships based on the artificial force field collision avoidance method. Using the simulation platform, the simulation results show that ships can successfully avoid collision in open water under single ship and multi ship situations, and the research results are relatively ideal.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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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.

• 한국군사과학기술학회지
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• 제4권2호
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• pp.17-29
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• 2001

In this paper, we designed the hybrid path generation method which is named CAPM(Continuous path generation method based on artificial Potential field) that is able to be used in the obstacles environment. This CAPM was designed so that it puts together two obstacle avoidance algorithm-the continuous path generation method(CPGM) and the artificial potential field method(APFM). Here, the CAPM generate the safety path using continuous path curvature. But, this method has demerits when used in obstacles environment in which are closely located. Another method which is named the APFM generates the path with the artificial potential field in the obstacles environment. But, It has local minima in certain places and unnecessarily calculates the path in which obstacles are not located. So, the CAPM was designed for autonomous underwater vehicle(AUV) obstacle avoidance. As the result of simulation, it was confirmed that the CAPM can be applied to a safe path generation for AUV.

• 한국지능시스템학회논문지
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• 제22권6호
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• pp.687-693
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• 2012

본 논문에서는 군집로봇의 효과적인 협조탐색을 위한 탐색영역에 대한 군집로봇의 최적배치을 제안한다. 먼저, 탐색영역에 대한 최적의 배치를 위해 보로노이 테셀레이션과 K-mean 알고리즘을 이용하여 탐색영역을 분할한다. 분할된 영역을 안전한 주행을 위해 전역경로계획과 지역경로계획을 한다. 전역경로계획은 A*알고리즘을 이용하여 전역경로계획을 하여 최적의 전역경로를 찾고, 지역경로계획은 포텐셜 필드방법을 이용하여 장애물 회피 통해 안전하게 목표점에 이르게 한다. 마지막으로 제안한 알고리즘은 시물레이션을 통해 그 응용가능성을 검토한다.

• 한국소음진동공학회논문집
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• 제11권6호
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• pp.200-207
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• 2001

In this paper, a new method for Partial field decomposition is developed that is based on the beamforming algorithm for the application of acoustical holography to a composite sound field generated by multiple incoherent sound sources. In the proposed method, source Positions are first predicted by MUSIC(multiple signal classification) algorithm. The composite sound fields can then be decomposed into each partial field by the beamforming. Results of both numerical simulations and experiments show that the method can find each partial field very accurately and effectively, and that it also has Potential to be used for application to distributed sources.

• Journal of the Korean Physical Society
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• 제73권10호
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• pp.1577-1583
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• 2018

Tumor-treating fields therapy involves placing pads onto the patient's skin to create a low- intensity (1 - 3 V/cm), intermediate frequency (100 - 300 kHz), alternating electric field to treat cancerous tumors. This new treatment modality has been approved by the Food and Drug Administration in the USA to treat patients with both newly diagnosed and recurrent glioblastoma. To deliver the prescribed electric field intensity to the tumor while minimizing exposure of organs at risk, we developed an optimization method for the electric field distribution in the body and compared the electric field distribution in the body before and after application of this optimization algorithm. To determine the electric field distribution in the body before optimization, we applied the same electric potential to all pairs of electric pads located on opposite sides of models. We subsequently adjusted the intensity of the electric field to each pair of pads to optimize the electric field distribution in the body, resulting in the prescribed electric field intensity to the tumor while minimizing electric fields at organs at risk. A comparison of the electric field distribution within the body before and after optimization showed that application of the optimization algorithm delivered a therapeutically effective electric field to the tumor while minimizing the average and the maximum field strength applied to organs at risk. Use of this optimization algorithm when planning tumor-treating fields therapy should maintain or increase the intensity of the electric field applied to the tumor while minimizing the intensity of the electric field applied to organs at risk. This would enhance the effectiveness of tumor-treating fields therapy while reducing dangerous side effects.

• 지구물리와물리탐사
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• 제24권3호
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• pp.98-112
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• 2021

임의의 전기 이방성을 갖는 지하 층상 구조에 유입되는 전류에 의한 전위와 전기장의 계산을 위하여, Das (1995)에 의해 연구되었던 해석해 알고리듬을 면밀하게 검토하고 개선하였다. 모든 이론 전개를 단계별로 확인하였으며, 그에 따라 전류 전극에 의한 전위 및 전류를 구하는 컴퓨터 프로그램을 작성하였다. 전위와 전기장의 계산을 통해 이방성 층상구조에 대한 전기 비저항 탐사 겉보기 비저항 변화를 전극 간격과 전극 운영 방향에 따라 계산하였다. 이러한 결과들을 예시로 도시화함으로써 전기적 이방성 매체의 효과를 검토하였다.