• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• Environmental Sciences Bulletin of The Korean Environmental Sciences Society
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• 제4권3호
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• pp.173-183
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• 2000

This study measured the zeta potential of both latex colloidal particles with carboxylate surface groups and glass beads (collectors) with silanol surface group employing various solution with different chemical characteristics. The results have been compared with the surface chemistry theory. The zeta potential of the particle and collector increased with increasing pH up to 5.0 regardless of the solution chemistry. For a monovalent electrolyte solution(sodium chloride solution) the zeta potential steadily increased until the pH reached 9.5. In contrast, little change in zeta potential was made between 5.0 and 9.5 for a divalent electrolyte solution (sodium chloride solution) the zeta potential steadily increased until the pH reached 9.5. In contrast, little change in zeta potential was made between 5.0 and 9.5 for a divalent electrolyte solution (calcium chloride solution). In other words, the more the pH decreases, the larger the effect of neutral salts, such as NaCl and CaCl$_2$, have on the ζ-potential values. In this study, the PZPC(point of zero proton condition) of the particle and collector occurred below a pH of 3.1, H(sup)+ and OH(sup)- acted as a PDI (potential determining ion), and Na(sup)+ acted as an IDI(indifferent ion). The magnitude of the negative ζ-potential values of the particle and collector monotonically increased as the concentrations of Na(sup)+ or Ca(sup)2+([Na(sup)+] or [Ca(sup)2+]) decreased (the values of pNa or pCa increased). In the case of latex particles, the ζ-potential should aproach zero (isoelectric point; IEP) asymptotically as the pNa approaches zero, while in the case of calcium chloride electrolyte, ζ-potential reversal may be expected to occur around 3.16$\times$10(sup)-2MCaCl$_2$(pCa=1.5). pH, valance and ionic strength can be used in various ways to improve the water treatment efficiency by modifying the charge characteristics of the particle and collector. Predictive capability is far less certain when EDL(electrical double layer) repulsive forces exist between the particle and collector.

• 한국기계연구소 소보
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• 통권14호
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• pp.135-144
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• 1985

A method is described to obtain the first order force and second order steady force on the fixed two dimensional submerged or semisubmerged cylinders at infinite depth of water due to regular waves. The first order diffraction wave velocity potential which describes the flow diffracted by a body is obtained numerically using source distribution method on the mean wetted surface. And a technique to remove the irregular frequency phenomena of the source distribution method is also applied. The second order steady force is calculates by means of direct integration of the pressures on the body as derived from the first order velocity potential and is also computed by means of reflection wave height derives from momentum conservation theory. The results are compared with those of published works, and show good agreement.

• Structural Engineering and Mechanics
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• 제9권4호
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• pp.397-416
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• 2000

The present study deals with the nonlinear dynamics and stability of autonomous dissipative either imperfect potential (limit point) systems or perfect (bifurcational) non-potential ones. Through a fully nonlinear dynamic analysis, performed on two simple 2-DOF models corresponding to the classes of systems mentioned above, and with the aid of basic definitions of the theory of nonlinear dynamical systems, new important phenomena are revealed. For the first class of systems a third possibility of postbuckling dynamic response is offered, associated with a point attractor on the prebuckling primary path, while for the second one the new findings are chaos-like (most likely chaotic) motions, consecutive regions of point and periodic attractors, series of global bifurcations and point attractor response of always existing complementary equilibrium configurations, regardless of the value of the nonconservativeness parameter.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 하계종합학술대회 논문집(2)
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• pp.103-106
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• 2000

The electronic properties of carbon nanotube are currently the focus of considerable interest. In this paper, the electronic properties of finite length effect in carbon nanotube for cabon nanoscale device is presented. To calculate the electronic properties of carbon nanotube, Empirical potential method (Brenner' hydrocarbon potential) for carbon and Tight binding molecular dynamic (TBMD) simulation are used. As a result of study, we have known that the value of the band gap decreases with increasing the length of the tube. The energy band gap of (6, 6) armchair carbon nanotube have the ranges between 0.3 eV and 2.5 eV. Also, our results were compared with the results of the other computational techniques. As that result, our results are very well united.

• 한국지능시스템학회논문지
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• 제7권1호
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• pp.27-33
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• 1997

This project is dedicated to the elaboration of a man-machine system for monitoring the non spread of nuclear weapons, technologies, raw materials. The main purpose of such a system depends on the customer requirements and may be : - control of non proliferation of nuclear technologies, especially those that can be used to manufacture a nuclear explosive device; - the appraisal of the possibility of production of nuclear weapons by a certain country on the basic of its intellectual and scientific-technical potential, its raw material resources, its export-import potential and other parameters.

• 셀메드
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• 제2권3호
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• pp.24.1-24.5
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• 2012

Obesity is psychological and socioeconomic problems as well as health problems related to physical disease and disorder. The obesity epidemic, including a marked increase in the prevalence of obesity among pregnant women, represents a critical public health problem throughout the world. Gung-Gui-Tang (GGT), a prescription of traditional Korean medicine, has been used to treat dizziness due to loss of blood as well as static blood after childbirth. However, the therapeutic potential of GGT on postpartum obesity has not been fully elucidated in an experimental model. In our research, GGT inhibited the increases of body weight and adipose tissues in postpartum mice fed a high-fat diet. GGT also inhibited the elevations of plasma lipid profiles such as triglyceride, low-density lipoprotein cholesterol, total cholesterol, and glutamate pyruvate transaminase. Overall, these results provide evidence that GGT can help to inhibit postpartum obesity and open new perspective to recover the shape of mother into the moment of conception.

• 동의생리병리학회지
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• 제17권6호
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• pp.1463-1467
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• 2003

In the present study, the effects of Ginseng radix and Ophiopogonis tuber on field potentials in rat hippocampal slices and cardiac muscle slices were investigated by multi-channel extracellular recording using MED64 system. The field potentials in the brain slices represent synaptic transmission and nerve excitability, and the field potentials in heart muscles represent muscle contractility. The present results show that the aqueous extract of Ginseng radix enhanced field potentials in the both hippocampal slices and cardiac muscle slices. In contrast, the aqueous extract Ophiopogonis tuber exerted no significant effect on the field potentials in the hippocampal slices and cardiac muscle slices. These results suggest the possibility that Yin-Yang theory could be studied in relation with excitability in neurons and muscles.

• 한국해양공학회지
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• 제21권3호
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• pp.40-45
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• 2007

This study was performed to investigate the effect of various propeller tunnel shapes on the propulsion performance of a fishing boat. The propeller tunnel reduces the problem resulting from the open propeller accidentally catching the waste net and cable on the sea, as well as increasing the cruising speed. For 3 different tunnel geometries, the model test is conducted in the circular water channel, and the potential based panel method was applied to analyze the hydrodynamic characteristics of propeller. Also, both results are compared with each other to represent the difference between results of the model scale test and the potential theory. It is expected that these results could be referenced in the design of the propeller tunnel in consideration of the hydrodynamic interaction between the propeller and the tunnel.

• 한국환경과학회지
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• 제6권5호
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• pp.505-512
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• 1997

The Interfacial characteristics between various heavy metals and hydrous FeS were investigated. Heavy metals which have lower sulfide solubilities than FeS undergoes the lecttice exchange reaction when these metal tons contact FeS In the aqueous phase. For heavy metals which have higher suede solubilities than FeS, these metal ions adsorb on the surface of FeS. Such characteristic reactions were interpreted by the soled solution formation theory. The presence of ligand such as EDTA reduced largely metal removal efficiency due to formation of metal-ligand complex In the solution. In an attempt to elucidate the Interfacial characteristics, zeta potential of the hydrous FeS In the absence and In the presence of various metal loons were measured and analyzed.