• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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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.

• Journal of Ocean Engineering and Technology
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• v.24 no.6
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• pp.16-22
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• 2010

In this paper, the diffraction problems for fixed offshore structures are solved using a hybrid scheme. In this hybrid scheme, potential-based solutions and the Navier-Stokes-based finite volume method (FVM) with a volume-of-fluid (VOF) method are combined. We introduce a buffer zone for efficient wave-making and damping. In this buffer zone, the near field solution from FVM-VOF is gradually changed to Stokes' 2nd order wave solutions. Three different models, including the truncated cylinder, sphere, and wigleyIII model, are numerically investigated in regular waves with a wave steepness of 1/30. The efficiency and accuracy of the hybrid scheme are numerically validated from results using different domain sizes and buffer zones. The wave exciting forces from the FVM-VOF simulations are compared with experiments and potential-based solutions from the higher-order boundary element method (HOBEM). This comparison shows good agreement between the hybrid scheme and potential-based solutions.

• Journal of Power Electronics
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• v.19 no.1
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• pp.119-133
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• 2019

Although the dual modulation wave method can solve the low-frequency neutral point potential (NPP) fluctuation problem for three-level neutral point clamped converters, it also increases the switching frequency and limits the zero-sequence voltage. That makes it harmful when dealing with the NPP drift problem if the converter suffers from a long dead time or asymmetric loads. By introducing two degrees of freedom (2-DOF), an NPP control based on a search optimization method can demonstrate its ability to cope with the above mentioned two types of NPP problems. However, the amount of calculations for obtaining an optimal 2-DOF is so large that the method cannot be applied to certain industrial applications with an inexpensive digital signal processor. In this paper, a novel optimal 2-DOF-based NPP control is proposed. The relationships between the NPP and the 2-DOF are analyzed and a method for directly determining the optimal 2-DOF is also discussed. Using a direct calculation method, the amount of calculations is significantly reduced. In addition, the proposed method is able to maintain the strongest control ability for the two types of NPP problems. Finally, some experimental results are given to confirm the validity and feasibility of the proposed method.

• Journal of The Korean Society of Agricultural Engineers
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• v.50 no.3
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• pp.91-104
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• 2008

This study developed the WSM (weighted scenario method)-AHP method that can optimize the weighting value for multi-criteria to make GIS grid-based potential surface. The potential surface has been used to simulate urban expansion using distributed cellular automata model and to generate land-use planning as basic data. This study formulated the WSM-AHP method in mathematically and applied to test region, Suwon city, which located on south area from Seoul. WSM-AHP method generates potential map for each pair of weighting value for all criteria, which one criterion is weighted with high weighting value and the others use low weighting value, considering that the summation for all criteria weighting values should be "1". The potential change rate to the step of weighted scenario for weighting value of criteria is standardized like AHP intensity matrix in this study. From the standard potential change rate, WSM-AHP intensity matrix is completed, and then the optimal weighting value is calculated from the maximum eigenvector of the WSM-AHP matrix, according to the new WSM-AHP method developed in this study. The applied results of new method showed that the optimal weighting value from WSM-AHP is more resonable than the general AHP specialists' evaluation for weighting value. The another new finding of this study is to suggest the deterministic approach to optimize the weighting value for the distributed CA model, which is used to find new city area and to generate rational land-use planning.

• Journal of Electrical Engineering and Technology
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• v.12 no.3
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• pp.1203-1210
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• 2017

Switched-inductor (SL) Z-source three-level inverter is a novel high power topology. The SL based impedance network can boost the input dc voltage to a higher value than the single LC impedance network. However, as all the neutral-point-clamped (NPC) inverters, the SL Z-source three-level inverter has to balance the neutral-point (NP) potential too. The principle of the inverter is introduced and then the effects of NP potential unbalance are analyzed. A NP balancing method is proposed. Other than the methods for conventional NPC inverter without Z-source impedance network, the upper and lower shoot-through durations are corrected by the feedforward compensation factors. With the proposed method, the NP potential is balanced and the voltage boosting ability of the Z-source network is not affected obviously. Simulations are conducted to verify the proposed method.

• Bulletin of the Korean Chemical Society
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• v.22 no.5
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• pp.455-462
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• 2001

The time-dependent tracking inversion method is studied to extract the potential energy surface of the electronic excited state in the photodissociation of triatomic molecules. Based on the relay of the regularized inversion procedure and time-dependent wave packet propagation, the algorithm extracts the underlying potential energy surface piece by piece by tracking the time-dependent data, which can be synthesized from Raman excitation profiles. We have demonstrated the algorithm to extract the potential energy surface of electronic excited state for NO2 molecule where the wave packet split on a saddle-shaped surface. Finally, we describe the merits of the time-dependent tracking inversion method compared with the time-independent inversion method and discussed several extensions of the algorithm.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1998.10a
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• pp.361-368
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• 1998

The purpose of this study is to find out the factors affacting liquefaction potential by using DSC(disturded state concept) method and to verify these results through cyclic shear test (truly triaxial test and cyclic triaxial) on saturated sandy soil. Based on this reserch, the DSC method predictions were found to provide satisfactory correlation with the cyclic shear test. And the relationship between the factors affecting liquefaction characteristics--relative density(Dr0 and initial effective confining pressure and physical properties of the saturated sand --ξD and Dc--is found. If the relative density and the initial effective confining pressure increase, the number of cyclic grows up. This means that Dc is incresed and ξD is decreased. Therefore, the liquefaction potential can be evaluated and the factors affacting liquefaction potential can be investigated by using on DSC method. Finally, it is shown that the DSC method can capture the liquefaction mechanism.

• Proceedings of the Korean Geotechical Society Conference
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• 2002.03a
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• pp.431-438
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• 2002

Reclaimed coastal areas for the construction of ports and harbors are in general subjected to strong possibility of liquefaction. In this research, a new method for liquefaction hazard microzonation based on liquefaction settlements was developed. Severity of liquefaction hazard was defined by liquefaction settlements obtained from the method proposed by Tokimatsu and Seed. 10 coastal areas, representing typical geological and geotechnical characteristics of Korean ports and harbors, and 3 real earthquake records for site response analysis were selected. From this research, liquefaction settlement criteria is adapted as a new quantitative index for the liquefaction hazard microzonation. Liquefaction settlements were also compared with LPI (Liquefaction Potential Index), obtained from the assessment of liquefaction potential based on the modified Seed and Idriss's method. As an example, 2 and 3 dimensional liquefaction hazard microzonations of Pusan port and harbor area were mapped by overlapped liquefaction settlement contours.

• Journal of Korean Society of Rural Planning
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• v.14 no.4
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• pp.109-119
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• 2008

The objectives of this study are to develop a green tourism potential evaluation method with rural amenity and demand of citizen. The new index which was named GPD(green tourism potential degree) is designed to propose the green tourism potential of rural areas using spatial analysis of geographic information system and spatial interaction of gravity model. And in order to evaluate the green tourism potential with supply side and demand side, two indices were defined; One is green tourism demand degree(GDD) which is developed to quantify a demand side potential by the analysis of urban population and urbanization index, and the other is green tourism attraction degree(GAD) which is developed to quantify a supply side potential by the analysis of rural amenity values using AHP algorithm, based on opinion of related experts. The developed method was applied to a part of Kyounggi province, Seoul and Incheon. All the study area's GAD, GDD and GPD were assessed and the proposed green tourism potential evaluation method could be used in developing rural development plans and green tourism policies considering spatial interaction with citizen and green tourism resources.

• Proceedings of the Korean Geotechical Society Conference
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• 2004.03b
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• pp.245-252
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• 2004

When some enormous earthquake hazards broke out in the neighboring Japan and Taiwan, many Korean earthquake engineers thought that seismic guidelines must be adjusted safely and economically to consider the moderate earthquake characteristics. In the present aseismic guideline for liquefaction potential assessment, a simplified method using SPT-N value and a detail method based on the dynamic lab-tests were introduced. However, it is said that these methods based on the equivalent stress concept to simplify an irregular earthquake are not reliable to simulate the kaleidoscopical characteristics of earthquake loading correctly. Especially, even though various data from the dynamic lab-test can be obtained, only two data, a maximum cyclic load and a number of cycle at an initial liquefaction are used to determine the soil resistance strength in the detailed method. In this study, a new assessment of liquefaction potential is proposed and verified. In the proposed assessment, various data from dynamic lab-tests are used to determine the unique soil resistance characteristic and a site specific analysis is introduced to analyze the irregular earthquake time history itself. Also, it is found that the proposed assessment is reasonable because it is devised to reflect the changeable soil behavior under dynamic loadings resulted from the generation and development of excess pore water pressure.