• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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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.

• Macromolecular Research
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• v.14 no.6
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• pp.654-658
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• 2006

Recent developments in equations of state for molecular fluids have demonstrated the feasibility of using the hard-sphere equation to describe the effects of repulsive forces in simple fluids. By including a suitable term for attractive forces, most conveniently a uniform background potential, the properties of bio-macromolecular interaction can be roughly calculated. However, the choice of the potential used in perturbed hard-sphere chain (PHSC) theory for describing the attractions between macromolecules is rather complicated. For hard-sphere chains, the prediction accuracy from each model strongly depends on the choice of potential function.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.2
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• pp.46-52
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• 2005

The sapphire wafer was polished by the implementation of the surface machining technology based on nano-tribology, The removal process has been performed by grinding, lapping and chemical-mechanical polishing. For the chemical mechanical polishing process, the chemical reaction between the slurry and sapphire wafer was investigated in terms of the change of Zeta-potential between two materials. The Zeta-potential was -4.98 mV without the slurry in deionized water and was -37.05 mV for the slurry solution. By including the slurry into the deionized water the Zeta-potential -29.73 mV, indicating that the surface atoms of sapphire become more repulsive to be easy to separate. The average roughness of the polished surface of sapphire wafer was ranged to 1∼4$\AA$.

• Bulletin of the Korean Chemical Society
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• v.19 no.10
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• pp.1073-1079
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• 1998

The potential energy surface (PES) of the non-identical SN2 reactions, F- + CH3Cl → FCH3 + Cl and (H2O)F + CH3Cl → FCH3 + Cl-(H2O), were investigated with ab initio MO calculations. The ab initio minimum energy reaction path (MERP) of the F- + CH3Cl → FCH3 + Cl- was obtained and it was expressed with an intermediate variable t. The ab initio PES was obtained near around t. Analytical potential energy function (PEF) was determined as a function of the t in order to reproduce the ab initio PES. Based on Morse-type potential energy function, a Varying Repulsive Cores Model (VRCM) was proposed for the description of the bond forming and the bond breaking which occur simultaneously during the SN2 reaction. The MERP calculated with the PEF is well agreed with the ab initio MERP and PEF could reproduce the ab initio PES well. The potential parameters for the interactions between the gas phase molecules in the reactions and water were also obtained. ST2 type model was used for the water.

• Journal of Korea Multimedia Society
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• v.17 no.9
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• pp.1104-1114
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• 2014

In large-scale crowd simulations, it is very important for the decision-making system of manipulating interactive behaviors to minimize the computational cost for controlling realistic behaviors such as collision avoidance. In this paper, we propose a large-scale realtime crowd simulation method using the affordance and navigation potential fields such as attractive and repulsive forces of electromagnetic fields. In particular, the model that we propose locally handles the realistic interactions between agents, and thus radically reduces the cost of expensive computation on interactions which has been the most problematic in crowd simulation. Our method is widely applicable to the expression and analysis of various crowd behaviors that are needed in behavior control in computer games, crowd scenes in movies, emergent behaviors of evacuation, etc.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.743-747
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• 1996

A Potential Field Method is applied to the proposed algorithm for the planning of collision-free paths of redundant manipulators. The planning is carried out on the base of kinematic configuration. To make repulsive potentials, sources are distributed on the boundaries of obstacles. To escape from local minimum of the main potential and to attack other difficulties of the planning, various potentials are defined simultaneously, Inverse Kinematics Problems of the redundant manipulators are solved by unconstrained optimization method. Computer simulation result of the path planning is presented.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.19-24
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• 2011

This paper presents a method about amorphous obstacles avoidance for local path planning in the two-dimensional sensor environment. In particular, the proposed method is extended from some of the recent studies about a point obstacle avoidance. In the paper, repulsive forces of two types are proposed in order that the robot avoids from the amorphous obstacle with various size and form. A judgment of curvatures in the proposed method simplifies the recognition of obstacles to make the path-planning efficient. In addition, the line of sight(LOS) and the range of recognition are considered in the environment. By simulation results, the proposed method for amorphous obstacle avoidance shows better performance than the related existing method and we confirmed advantages of proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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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.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.33 no.5
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• pp.455-462
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• 2000

The objective of this study was to examine the physicochemical characteristics of coagulation reaction between loess and red tide organisms (RTO) and its feasibility, in developing a technology for the removal of RTO bloom in coastal sea. The physicochemical characteristics of loess were examined for a particle size distribution, surface characteristics by scanning electron microscope, zeta potential, and alkalinity and pH variations in sea water. Two kinds of RTO that were used in this study, Cylindrothen closterium and Skeietonema costatum, were sampled in Masan bay and were cultured in laboratory. Coagulation experiments were conducted using various concentrations of loess, RTO, and a jar tester. The supernatant and RTO culture solution were analyzed for pH, alkalinity, RTO cell number. A negative zeta potential of loess increased with increasing pH at $10^(-3)M$ NaCl solution and had -71.3 mV at pH 9.36. Loess had a positive zeta potential of +1,8 mV at pH 1.98, which resulted in a characteristic of material having an amphoteric surface charge. In NaCl and $CaCl_2$, solutions, loess had a decreasing negative zeta potential with increasing $Na^+\;and\;Ca^(+2)$ ion concentration and then didn't result in a charge reversal due to not occurring specific adsorption for $Na^+$ ion while resulted in a charge reversal due to occurring specific adsorption for $Ca^(+2)$ ion. In sea water, loess and RTO showed the similar zeta potential values of -112,1 and -9.2 mV, respectively and sea sand powder showed the highest zeta potential value of -25.7 mV in the clays. EDLs (electrical double-layers) of loess and RTO were extremely compressed due to high concentration of salts included in sea water, As a result, there didn't almost exist EDL repulsive force between loess and RTO approaching each other and then LVDW (London-yan der Waals) attractive force was always larger than EDL repulsive force to easily form a floe. Removal rates of RTO exponentially increased with increasing a loess concentration. The removal rates steeply increased until $800 mg/l$ of loess, and reached $100{\%}$ at 6,400 mg/l of loess. Removal rates of RTO exponentially increased with increasing a G-value. This indicated that mixing (i.e., collision among particles) was very important for a coagulation reaction. Loess showed the highest RTO removal rates in the clays.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.446-448
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• 1994

This paper proposes some dynamic navigation strategy for a mobile robot among multiple moving obstacles. The control force of the robot which consists of repulsive and attractive force is based on the artificial potential field. The artificial potential fields is derived with position or(and) velocities of the objects. The simulation results shows the properties of the proposed strategies.