• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.430-433
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• 1996

In This paper, we design the developed path generation method which is named that CBPM(Continuous path generation method Based artificial Potential field) that is able to be used in the obstacles environment. This CBPM is designed so that it puts together two obstacle avoidance algorithm-the continuous path generation method and the artificial potential field method. Here, the continuous path generation method generate the safety path using continuous path curvature. But, this method has demerits when used in obstacles environment in which are closely located. Another method which is named the artificial potential field method generates the path with the artificial potential field in the obstacles environment. But, APFM has local minima in certain places and unnecessarily calculates the path in which obstacles are not located. So, the developed path generation method, CBPM, is suggested and performances in many different obstacles environments are shown by using computer simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.554-557
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• 2002

This paper describes power potential field method for the collision-free path planning of stereo-vision based mobile robot. Area based stereo matching is performed for obstacle detection in uncertain environment. The repulsive potential is constructed by distributing source points discretely and evenly on the boundaries of obstacles and superposing the power potential which is defined so that the source potential will have more influence on the robot than the sink potential when the robot is near to source point. The mobile robot approaches the goal point by moving the robot directly in negative gradient direction of the main potential. We have investigated the possibility of power potential method for the collision-free path planning of mobile robot through various experiments.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.9
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• pp.136-141
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• 2010

In this paper, after the third electrode type oxidant generator which could format non-uniform electric field in water had been manufactured and installed, by direct electrolysis, the effects of the hydrogen potential and oxidation reduction potential characteristics attendant upon electric field change on a higher concentration oxidant generation characteristics were investigated. Consequently, as the third electrode was installed in the middle of two slit electrodes and the polarity of applied power was changed, it was observed that the third electrode system with the positive electrode can generate a higher concentration oxidant, hydrogen potential and oxidation reduction potential as compared with that of the negative electrode. It is because the positive electrode was bombarded mostly energetic electrons and the negative electrode was bombarded mainly by less energetic positive ions.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.1
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• pp.15-19
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• 2009

This paper presents the potential field for mobile robot path planning. The proposed repulsive potential has weighted parts, which consists of conventional repulsive potential and goals nonreachable with obstacles nearby repulsive potential. It ensures the global minimum of the total potential when the robot approaches goals near obstacle and the robot passes the adjacent obstacles. Simulation results shows that the proposed potential is better than conventional potentials.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.48 no.2
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• pp.81-88
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• 2003

Soybeans [Glycine max (L.) Merr.] are frequently exposed to unfavorable environments during growing seasons and water is the most important factor limiting for the production system. The purpose of this study was to determine the leaf water potential changes by irrigation, and to evaluate the relationships of leaf water potential, growth and yield in soybeans. Three soybean cultivars, Hwangkeumkong, Shinpaldalkong 2, and Pungsannamulkong, were planted in growth chamber and field with irrigated treatments. Leaf water potential of three soybean cultivars was positively correlated with leaf water content during vegetative and reproductive growth stages in growth chamber and field experiments. Leaf water potentials measured for three soybean cultivars under growth chamber were higher than those of under field conditions. Higher leaf water potential with irrigated plots under field was observed compared to conventional plots during reproductive growth stages. Leaf water potentials of three soybean cultivars were continually decreased during reproductive growth stages under field and there was no significant difference among them. Number of leaves, leaf water content, pod dry weight, number of seeds and seed dry weight with irrigated plots were higher than those of conventional plots. The results of this study suggested that leaf water potential could be used as an important growth indicator during the growing season of soybean plants.

• Bulletin of the Korean Mathematical Society
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• v.52 no.5
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• pp.1535-1547
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• 2015

A vector field on a Riemannian manifold (M, g) is called concircular if it satisfies ${\nabla}X^v={\mu}X$ for any vector X tangent to M, where ${\nabla}$ is the Levi-Civita connection and ${\mu}$ is a non-trivial function on M. A smooth vector field ${\xi}$ on a Riemannian manifold (M, g) is said to define a Ricci soliton if it satisfies the following Ricci soliton equation: $$\frac{1}{2}L_{\xi}g+Ric={\lambda}g$$, where $L_{\xi}g$ is the Lie-derivative of the metric tensor g with respect to ${\xi}$, Ric is the Ricci tensor of (M, g) and ${\lambda}$ is a constant. A Ricci soliton (M, g, ${\xi}$, ${\lambda}$) on a Riemannian manifold (M, g) is said to have concircular potential field if its potential field is a concircular vector field. In the first part of this paper we determine Riemannian manifolds which admit a concircular vector field. In the second part we classify Ricci solitons with concircular potential field. In the last part we prove some important properties of Ricci solitons on submanifolds of a Riemannian manifold equipped with a concircular vector field.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.10
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• pp.1479-1485
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• 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.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1876-1885
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• 2003

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.6
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• pp.107-115
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• 1998

A path planning using potential field method is very useful for the real-time navigation of mobile robots. However, the method needs high modeling cost to calculate the potential field because of complex preprocessing, and mobile robots may get stuck into local minima. In this paper, An efficient path planning algorithm for multiple mobile robots, based on the potential field method, was proposed. In the algorithm. the concepts of subgoals and obstacle priority were introduced. The subgoals can be used to escape local minima, or to design and change the paths of mobile robots in the work space. In obstacle priority, all the objects (obstacles and mobile robots) in the work space have their own priorities, and the object having lower priority should avoid the objects having higher priority than it has. In this paper, first, potential based path planning method was introduced, next an efficient collision-avoidance algorithm for multiple mobile robots, moving in the obstacle environment, was proposed by using subgoals and obstacle priority. Finally, the developed algorithm was demonstrated graphically to show the usefulness of the algorithm.

• 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.