• ETRI Journal
• /
• 제33권6호
• /
• pp.924-934
• /
• 2011

Sensor networks play an important role in making the dream of ubiquitous computing a reality. With a variety of applications, sensor networks have the potential to influence everyone's life in the near future. However, there are a number of issues in deployment and exploitation of these networks that must be dealt with for sensor network applications to realize such potential. Localization of the sensor nodes, which is the subject of this paper, is one of the basic problems that must be solved for sensor networks to be effectively used. This paper proposes a probabilistic support vector machine (SVM)-based method to gain a fairly accurate localization of sensor nodes. As opposed to many existing methods, our method assumes almost no extra equipment on the sensor nodes. Our experiments demonstrate that the probabilistic SVM method (PSVM) provides a significant improvement over existing localization methods, particularly in sparse networks and rough environments. In addition, a post processing step for PSVM, called attractive/repulsive potential field localization, is proposed, which provides even more improvement on the accuracy of the sensor node locations.

• Journal of Mechanical Science and Technology
• /
• 제18권1호
• /
• pp.132-144
• /
• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

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

• Nuclear Engineering and Technology
• /
• 제47권6호
• /
• pp.662-668
• /
• 2015

A suspension of titanium nanoparticles (Ti NPs) in liquid sodium (Na) has been proposed as a method to mitigate the violent sodium-water reaction (SWR). The interparticle potential between Ti NPs in liquid Na may play a significant role in the agglomeration of NPs on the reaction surface and in the bulk liquid Na, since the potential contributes to a reduction in the long-term dispersion stability. For the effective control of the SWR with NPs, a physical understanding of the molecular dynamics of NPs in liquid Na is key. Therefore in this study, the nonretarded Van der Waals model and the solvation potential model are employed to analyze the interparticle potential. The ab initio calculation reveals that a strong repulsive force driven by the solvation potential exceeds the interparticle attraction and predicts the agglomeration energy required for two 10-nm Ti NPs to be $4{\times}10^{-17}J$. The collision theory suggests that Ti NPs can be effective suppressors of the SWR due to the high energy barrier that prevents significant agglomeration of Ti NPs in quiescent liquid Na.

• 한국분무공학회지
• /
• 제8권1호
• /
• pp.16-22
• /
• 2003

Zeta potential measurements of colloid particles suspended in a liquid are performed by a Zeta Meter developed. There are many applications of colloid stability in spray technology, paints, wastewater treatment, and pharmaceuticalse. Zeta potentials of charged particles are obtained by measuring the electrophoretic velocities of the particles using video enhanced microscopy and image analysis program. The values of zeta potential of polystyrene latex(PSL), $silica(SiO_2)$M, polyvinylidence difluoride(PVDF), silicon nitride, and alumina particles in deionized (DI) water were measured to be -40.5, -31.9, -25.2, -15.1 and -10.1mV, respectively. The particles having high zeta potential less than -20 mV are stable in DI water, because the double layers of them have strong repulsive forces mutually, and the particles having low zeta potential over -20mV are unstable due to Van Der Waals forces. Silica(>20nm), PSL, aluminum and PVDF particles were found to be stable that would remain separate and well disperse, while silicon nitride and alumina particles were found to be unstable that would gradually agglomerate in DI water.

• 전기학회논문지
• /
• 제64권10호
• /
• pp.1479-1485
• /
• 2015

Robot's technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot's path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.

• 한국세라믹학회지
• /
• 제39권11호
• /
• pp.1011-1016
• /
• 2002

Colloidal particles of silica (100 nm in size) were electrostatically dispersed and adsorbed on a glass substrate coated with silica sol or alumina sol. Stability of the suspensions and microstructure of the adsorbed particle layers were discussed in terms of total potential energies between the particles and the substrate. Well-dispersed suspension resulted in a layer with densely packed and regularly arranged particles, whereas less stable suspension resulted in a porous layer with loosely packed and irregularly arranged particles. Despite repulsive interactions between the particles and the substrate coated with silica sol, the observed adsorption can be attributed to chemical bonds formed at the interface between the particle and silica sol. In contrast, the adsorption of the particles on the substrate coated with alumina sol formed a layer with strongly adhered and densely packed particles, due to large attractive interactions between the particles and alumina sol.

• 대한화학회지
• /
• 제36권5호
• /
• pp.627-631
• /
• 1992

Lippincott의 실험적 퍼텐셜을 사용하여 결정상내의 수소결합을 나타내는 간단한 1차원적 모형을 제시하였다. 이 모형에 의하여 압력의 증가에 따른 내부 대칭 신축진동수의 변화를 $NH_4I$에 대하여 계산하였다. 계산 결과는 실험치와 정성적인 일치를 보였다. 낮은 압력에서는 압력의 증가가 수소결하비의 세기를 증가시켜 N-H 진동을 약화시키고, 높은 압력에서는 이온 내의 원자간의 거리의 감소에 의하여 척력의 증가 때문에 진동수가 증가함을 보인다.

• 전자공학회논문지T
• /
• 제35T권3호
• /
• pp.67-75
• /
• 1998

이 논문은 이동 장애물 회피를 위한 새로운 로봇 동작 계획을 제안한다. 이동 장애물의 운동성을 고려하여, 로봇과 장애물 사이의 관계를 위해 가상거리 함수를 정의한다. 각각의 샘플링 시간에, 장애물의 움직임을 고려한 인공 전위계를 구성하기 위해 가상거리 함수를 이용한다. 로봇은 인공 전위 함수에 의해 유도된 인력과 척력 벡터에 따라 이동한다. 제안된 알고리즘은 실시간으로 이동 장애물을 회피할 수 있었다. 시뮬레이션 결과를 통해 제안된 알고리즘의 효율성을 입증한다.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2005년도 추계학술대회논문집
• /
• pp.756-759
• /
• 2005

Dynamic force microscopy utilizes the dynamic response of a resonating probe tip as it approaches and retracts from a sample to measure the topography and material properties of a nanostructure. We present recent ideas based on proper orthogonal decomposition (POD) and detailed experiments that yield new perspectives and insight into AFM. A dynamic cantilever model with Lennrad-Jones interaction Potential which includes attractive and repulsive van der Waals demonstrates the resonable tapping mode response in time and frequency.