• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.362-367
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• 2011

The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.

• 전자공학회논문지 IE
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• 제48권3호
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• pp.26-32
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• 2011

본 논문은 화재라는 특수한 상황에서 대피자를 로봇에 비유하여 퍼텐셜 필드 방식으로 최적의 대피 경로를 탐색하는 방식을 제안한다. 장애물은 화재가 발생된 위치를 나타내게 되며, 한정된 공간에서 센서를 통해 화재가 발생한 위치를 확인할 수 있어서 전역적인 탐색이 가능해진다. 건물 내에 설치된 화재 감지 센서와 복합 감지 센서로부터 상황 정보를 습득하여 무선으로 서버에 전송하면 퍼텐셜 필드 방식으로 최적의 대피 경로를 탐색하여 유도등을 대피 방향으로 동작시키며 스마트 폰과 같은 모바일 단말에 무선을 이용하여 대피 경로 정보를 표시할 수 있게 된다. 시뮬레이션 환경에서 제안한 화재 대피 알고리즘의 기능 및 성능 테스트를 통해 제안 알고리즘의 성능을 확인할 수 있었다.

• 지구물리와물리탐사
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• 제24권3호
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• pp.98-112
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• 2021

임의의 전기 이방성을 갖는 지하 층상 구조에 유입되는 전류에 의한 전위와 전기장의 계산을 위하여, Das (1995)에 의해 연구되었던 해석해 알고리듬을 면밀하게 검토하고 개선하였다. 모든 이론 전개를 단계별로 확인하였으며, 그에 따라 전류 전극에 의한 전위 및 전류를 구하는 컴퓨터 프로그램을 작성하였다. 전위와 전기장의 계산을 통해 이방성 층상구조에 대한 전기 비저항 탐사 겉보기 비저항 변화를 전극 간격과 전극 운영 방향에 따라 계산하였다. 이러한 결과들을 예시로 도시화함으로써 전기적 이방성 매체의 효과를 검토하였다.

• Journal of Magnetics
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• 제8권4호
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• pp.164-168
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• 2003

In high density recording system, the recording head field on a medium should be focused in small bit area and should have a sufficient value to overcome the medium coercivity, which resulted in head saturation. In this paper, an efficient method to access the head field and field gradient considering head saturation is presented. The magnetic vector potential on the head surface is pre-calculated considering head saturation in several cases and accumulated into database. The head field on the recording media is easily produced solving Laplace equation using accessed magnetic vector potential boundaries. The computed head field is compared with a quantified magnetic force microscopy measurement.

• Journal of Mechanical Science and Technology
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• 제14권8호
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• pp.845-850
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• 2000

We consider the problem of determining the singular stresses and electric fields in a piezoelectric ceramic strip containing a Griffith crack under in-plane normal loading within the framework of linear piezoelectricity. The potential theory method and Fourier transforms are used to reduce the problem to the solution of dual integral equations, which are then expressed to a Fredholm integral equation of the second kind. Numerical values on the field intensity factors are obtained, and the influences of the electric fields for PZT-6B piezoelectric ceramic are discussed.

• Journal of applied mathematics & informatics
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• 제3권2호
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• pp.265-278
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• 1996

This paper is composed of the complete representation of two dimensional single layer potentials with linear strength on a straight line segment and its far field behavior which is closely related to the pose of this line segment. The far field behavior of a single layer potential on a given curve has informations of the shape of the curve.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.404-406
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• 2002

In this paper, the method of image feature extraction is proposed. This method employ the energy field analysis, outlier removal algorithm and ring projection. Using this algorithm, we achieve rotation-translation-scale invariant feature extraction. The force field are exploited to automatically locate the extrema of a small number of potential energy wells and associated potential channels. The image feature is acquired from relationship of local extrema using the ring projection method.

• 한국육종학회지
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• 제40권1호
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• pp.8-14
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• 2008

A complete diallel cross was performed to determine the inheritance of allelopathic potential and combining ability of six rice germplasm that showed different level of allelopathic potential against barnyardgrass. Parents and F1 of 30 crosses were assessed for allelophatic potential in field condition. Barnyardgrass (Echinochloa crus-galli (L.) Beauv. var. frumentaceae) was used for rice allelopathic potential indicator which was observed in height and shoot dry weight, then suppression percentage were calculated by comparing to barnyardgrass grown in control plot (no rice). It was found that general combining ability showed no significant effect, whereas specific combining ability and reciprocal effect were significant. Variance analysis confirmed that genetic control of allelopathic potential in rice against barnyardgrass was mostly directed by dominance gene effect. The dominant genes were associated with high allelopathic potential and recessive genes were associated with low allelopathic potential. Heritability in broad sense for barnyardgrass dry weight suppression was around 41%; whereas for barnyardgrass height suppression was 51%. However, heritability in narrow sense was very low. The finding suggests that accumulation of genes associated with allelopathic potential would be a strategy to develop promising varieties in reference with the specific combining ability of cross combinations.

• 한국통신학회논문지
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• 제35권1B호
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• pp.106-116
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• 2010

센서들은 최대 관찰영역 확보, 신뢰성 있는 데이터 획득, 센서의 효율적 자원관리 등을 위하여 최적의 위치에 배치되어야 한다. 전통적인 고정형 무선 센서 네트워크에서는 미개발 지역, 군사 지역, 재난 지역 등의 경우에는 사람이 직접 센서를 배치하는 것이 불가능하다. 따라서 이러한 경우 각 센서가 이동 능력을 겸비하고 있다면 스스로 주변 센서들의 위치를 인식하고 그 정보를 활용하여 전체 영역을 관찰할 수 있다. 우리는 이전 연구를 통해 각 센서가 이웃의 위치 좌표를 통해 계산된 보로노이 다각형의 도심으로 이동하는 것이 높은 커버리지 확보에 효율적임을 보인 바 있다. 본 논문에서는 보로노이 다각형의 도심을 활용하는 방안과 전통적인 포텐셜 필드 방식에 의한 센서 움직임 방법을 접목하여 보다 향상된 자율 배치 방법을 제안한다. 또한, 시뮬레이션을 통하여 제안한 센서 자율 배치 방법이 단순하게 포텐셜 필드만을 활용하였을 때 보다 적은 이동으로 빠른 시간 안에 높은 커버리지를 확보함을 보인다.

• The Korean Journal of Ecology
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• 제19권5호
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• pp.453-463
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• 1996

Diurnal changes of microclimatic conditions and tissue water relations were measured at two sites where Carpinus laxiflora and C. cordata were allopatrically distributed. The microclimatic conditions at a site where C. laxiflora was distributed produced severe water stress condition during summer months. Daily maximum temperature reached $30.4^\circC$ and the highest vapor pressure deficit was 1.31 KPa when 13 rainless days were continued. During this period soil water content decreased to below the field capacity even at a depth of 20 cm and xylem pressure potential also decreased to ­2.04 MPa. However, turgor potential was maintained more than 0.4 MPa. Patterns of stomatal conductance were changed with evaporative demand and soil water availability. On the other hand, microclimatic conditions at a site where C. cordata was distributed were moderate water strees condition compared with those at a site C. laxiflora was distributed. Though soil water content was maintained above field capacity C. cordata showed a remarkable decrease in turgor potential and stomatal conductance throughout the experiment. These results indicate that there is a difference in habitat characteristics between the two species and C. laxiflora is more resistant than C. cordata to water stress.