• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.1
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• pp.9-21
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• 1998

This paper a new solution approach to moving obstacle avoidance problem of a mobile robot. A new concept avoidability measure (AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function (VDF), is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF ,an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.88-93
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• 1998

This paper presents a new solution approach to moving obstacle avoidance problem for a mobile robot. A new concept avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terns of the VDF, an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived form the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• Steel and Composite Structures
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• v.26 no.6
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• pp.673-691
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• 2018

The main goal of this research is to examine the in-plane and out-of-plane forced vibration of a curved nanocomposite microbeam. The in-plane and out-of-plane displacements of the structure are considered based on the first order shear deformation theory (FSDT). The curved microbeam is reinforced by functionally graded carbon nanotubes (FG-CNTs) and thus the extended rule of mixture is employed to estimate the effective material properties of the structure. Also, the small scale effect is captured using the strain gradient theory. The structure is rested on a nonlinear orthotropic viscoelastic foundation and is subjected to concentrated transverse harmonic external force, thermal and magnetic loads. The derivation of the governing equations is performed using energy method and Hamilton's principle. Differential quadrature (DQ) method along with integral quadrature (IQ) and Newmark methods are employed to solve the problem. The effect of various parameters such as volume fraction and distribution type of CNTs, boundary conditions, elastic foundation, temperature changes, material length scale parameters, magnetic field, central angle and width to thickness ratio are studied on the frequency and force responses of the structure. The results indicate that the highest frequency and lowest vibration amplitude belongs to FGX distribution type while the inverse condition is observed for FGO distribution type. In addition, the hardening-type response of the structure with FGX distribution type is more intense with respect to the other distribution types.

• Korean Chemical Engineering Research
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• v.57 no.2
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• pp.149-163
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• 2019

Under non-uniform electric field, a directional force along the electric field gradient is applied to matter having permanent or induced dipoles. The transport of particles by the directional force is called dielectrophoresis (DEP). Since the strength and direction of the DEP force depend on parameters, such as permittivity and conductivity of particles and surrounding media, and frequency of the applied AC electric field, particle can be precisely manipulated by controlling the parameters. Moreover, unlike electrophoresis, DEP can be applied to any particles where dipole is effectively induced by electric field. Such a DEP technique has been used in various fields, ranging from microfluidic engineering to biosensor and microchip research. This paper first describes the fundamentals of DEP, and discusses representative microelectrode designs used for DEP study. Then, exemplary applications of DEP, such as separation, capture and self-assembly of particles, are introduced.

• Journal of Power System Engineering
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• v.21 no.2
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• pp.48-56
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• 2017

The steady-state, incompressible and three-dimensional numerical analysis was carried out to evaluate the velocity fields around the seabed tiller used for the improvement of the seabed soil and the pulling force and buoyancy generated by driving the seabed tiller. The turbulence model used in this study is a realizable $k-{\varepsilon}$ well known to be excellent for predicting the performance of the flow separation and recirculation flow as well as the boundary layer with rotation and strong back pressure gradient. As a results, a typical vortex pair appears near the adjacent rotor vane tip. When the current is stopped, there is no force when pulling the seabed tiller, but when the current flows at 1.2 knots, the force acts on the downstream side and the pulling force is much greater. In stationary currents, the buoyancy of the seabed tiller acts more strongly towards the seabed as the number of rotations of the rotor increases, but acts more strongly toward the sea surface at 1.2 knots of current.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.7
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• pp.2298-2314
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• 1996

Electric field effect on boiling of refrigerants R11, R113, and FC72 has been investigated experimentally. One purpose of the experimental investigation is to determine the effects of the electrode arrangements on electrohydrodynamic boiling of the above mentioned liquids. The test equipment employed in the experiment consists of a shell and tube heat exchanger with six or six and twelve rows of electrode wires around the tube. It has been found that the applied voltage promotes the boiling heat transfer coefficient except FC72. Boiling heat transfer enhancement obtained is about 230% for R11, 280% for R113. It has also been observed that bubbles detached from the tube aggregate at the place where the electrical gradient force balances with the buoyancy one. These aggregated bubbles force to decrease the boiling heat transfer coefficient as well as to reduce the voltage needed to the dielectric breakdown.

• Progress in Superconductivity
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• v.11 no.1
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• pp.36-41
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• 2009

Superconducting quantum phenomena are getting attention from the field of metrology area. Following its first successful application of Josephson effect to voltage standard, piconewton force standard was suggested as a candidate for the next application of superconducting quantum effects in metrology. It is predicted that a micron-sized superconducting Nb ring in a strong magnetic field gradient generates a quantized force of the order of sub-piconewtons. In this work, we studied the design and fabrication of Nb superconducting quantum interference device (SQUID) on an ultra-thin silicon cantilever. The Nb SQUID and electrodes were structured on a silicon-on-insulator (SOI) wafer by dc magnetron sputtering and lift-off lithography. Using the resulting SOI wafer, we fabricated V-shaped and parallel-beam cantilevers, each with a $30-{\mu}m$-wide paddle; the length, width, and thickness of each cantilever arm were typically $440{\mu}m,\;4.5{\mu}m$, and $0.34{\mu}m$, respectively. However, the cantilevers underwent bending, a technical difficulty commonly encountered during the fabrication of electrical circuits on ultra-soft mechanical substrates. In order to circumvent this difficulty, we controlled the Ar pressure during Nb sputtering to minimize the intrinsic stress in the Nb film and studied the effect of residual stress on the resultant device.

• Journal of the Korean Ceramic Society
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• v.29 no.11
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• pp.912-918
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• 1992

Microstructure evolution including morphological change in the vicinity of the electrodes, porosity change and grain boundary migration was observed in polycrystalline CoO subject to electric fields at 1100 and 121$0^{\circ}C$ in air. At the cathode, the transported cations react with oxygen in the surrounding to form new lattices, while, at the anode, the reverse reaction occurs leading to lattice annihilation. Lattice formation also takes place at the surface of pores near the cathode inducing pore-filling effect. Grain boundary migration was found bo be enhanced or retarded depending on the field direction. It is therefore implied that the driving force of grain boundary migration is the vectorial sum of the curvature-induced chemical potential gradient and the electric field applied.

• Proceedings of the KSME Conference
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• 2000.04b
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• pp.637-643
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• 2000

The shrouded corotating disk flow has a simple figure on geometric basis, but has various and complicated forms of flow. this complicated flows can be variously applied to not only information storage device, but also turbomachinery which is greatly influenced by centrifugal force. This study measured its velocity to measure inner flow field with unique flow field univluenced, using LDV and subminiature hot-wire. The result of experiment shows that distribution limits of solid body rotation region, dimensionless velocity gradient and distribution limits of disk surface boundary layer(Ekman layer) are changed by the gap of disks and rotating speed. Circulating vortex which is near the shroud is effected by the gap of disks and rotating speed.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2360-2362
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• 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.