• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.4
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• pp.339-346
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• 2005

Artificial potential field (APF) is a widely used method for local path planning of autonomous mobile robot. So far, many different types of APF have been implemented. Once the artificial potential functions are selected, how to choose appropriate parameters of the functions is also an important work. In this paper, a detailed analysis is given on how to choose proper parameters of artificial functions to eliminate free path local minima and avoid collision between robots and obstacles. Two kinds of potential functions: Gaussian type and Quadratic type of potential functions are used to solve the above local minima problem respectively. To avoid local minima occurred in realistic situations such as 1) a case that the potential of the goal is affected excessively by potential of the obstacle, 2) a case that the potential of the obstacle is affected excessively by potential of the goal, the design guidelines for selecting appropriate parameters of potential functions are proposed.

• Bulletin of the Korean Chemical Society
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• v.21 no.7
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• pp.727-733
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• 2000

Analytical potential energy surfaces have been constructed for the four-center elimination of HCI from 1,1-dichloroethylene.The potential functions are Morse-type functions which are modified by appropriate switching and attenuating functions with adjustable parameters. The parameters have been found by fitting the calculated vibrational frequencies, reaction endothermicity, equlibrium geometries of the reactant and products to those of experiments and ab initio calculations. The translational energy release obtained from classical trajectory calculations on this surface is in good agreement with the experiment.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2019.11a
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• pp.201-202
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• 2019

This paper aimed to identify potential opportunities of building information modeling (BIM) utilization for construction risk management. Construction risk factors and BIM functions were derived through conducting in-depth literature review. Nineteen construction risk factors could be resolved by various BIM functions. Phase planning, site analysis, design authoring, and 3D design coordination were identified as the most efficient BIM functions for construction risk management.

• Journal of the Korean Chemical Society
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• v.56 no.6
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• pp.669-672
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• 2012

Classical molecular dynamics (MD) simulations using a scaled OSS2 potential originally derived from ab initio calculations are used to study the radial distribution functions of water. The original OSS2 water potential is shown to represent a glassy or an ice at ambient temperature, but the diffusion coefficient increases on increasing the temperature of the system or decreasing the density. This suggests scaling the OSS2 potential. The O-O, O-H, and H-H radial distribution functions and the corresponding coordination numbers for the scaled OSS2 potential, obtained by MD simulation, are in good agreement with the experiment results and calculations for the SPC/E water potential over a range of temperatures.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.349-356
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• 2013

This paper presents formation control based on potential functions for unicycle robots. The unicycle robots move to formation position which is made from a reference point and neighboring robots. In the framework, a local minimum case occurred by combination of potential repulsed from neighboring robots and potential attracted from a formation line is presented, in which the robot escapes from a local minimum using a virtual escape point after recognizing trapped situation. As well, in the paper, potential functions are designed to keep the same distance between neighboring robots on a formation line, i.e. the relative distance between neighboring robots on a formation line is controlled by a potential function parameter. The simulation results show that the proposed approach can effectively construct straight line, V, and polygon formation for multiple robots.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.1317-1322
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• 2001

What changes in the eigen values and eigen functions are produced if the boundary surface S is no longer rigid but has a specific acoustic admittance which may vary from point to point on S. In this paper, changes in eigen values and eigen functions are derived by using Kirchhoff-Helmholtz integral equation. And acoustic potential energy, which is representative measure describing the physical quantity in cavity, is defined. Acoustic potential energy can be divided into primary one and secondary one. Primary one is the acoustic potential energy through unchanged eigen functions, and secondary one is through changed eigen functions. Using these two term, we can find the eigenvalue problem, which gives the control performance when the boundary condition is changed.

• Proceedings of the IEEK Conference
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• 2002.07b
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• pp.1204-1207
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• 2002

The fixed points of two known gradient flows defined on adjoint orbits of orthogonal groups are analyzed through the critical point analysis of the potential functions. The results show that some known properties of these gradient flows are shared with the gradient flows of the same potential functions with respect to other metrics.

• Journal of the Korean Ceramic Society
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• v.23 no.5
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• pp.47-54
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• 1986

The structures of crystalline vitreous and liquid $SiO_2$ were Monte carlo simulated employing the potential energy function comprising Lennard-Jones 2-body and Axilrod-Teller 3-body potentials. Although the Si-O-Si angular distribution functions obtained in the simulation appear to be higher than the experimental results the other simulation results including SiO, O-O and Si-Si radial distribution functions and O-Si-O anglular distribution functions agree well with experimental data within acceptable limits. Themost important outcome in this study is that various $SiO_2$forms were successfully reproduced with the same potential energy function.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.5
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• pp.448-454
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• 2008

This paper deals with a behavior based decentralized control strategy for UAV swarming utilizing the artificial potential functions and the sliding mode control technique. Individual interactions for swarming behavior are modeled using the artificial potential functions. The motion of individual UAV is directed toward the negative gradient of the combined potential. For tracking the reference trajectory of UAV swarming, a swarming center is considered as the object of control. The sliding-mode control technique is adopted to make the proposed swarm control strategy robust with respect to the system uncertainties and the varying mission environment. Numerical simulation is performed to verify the performance of the proposed controller.

• Bulletin of the Korean Chemical Society
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• v.10 no.6
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• pp.585-591
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• 1989

The effects of the charged metal on the overall electrostatic potential profiles and the capacitances of the electrical double layer are brought out. A model with a simplified jellium and a point-charged electrolyte is utilized in the present calculations. Electrons are assumed not to penetrate electrode surface due to a strong screening of electrolyte at the interface. Electron density functions and ion density functions are obtained, which are also based upon the Poisson equation and Boltzmann equation on either side of the interface. A complete potential profile starting from bulk electrode and ending at bulk electrolyte is obtained by connecting the two potential profiles (one inside the metal electrode, the other inside the electrolyte) with proper boundary conditions. In spite of the simplicity of the model, the present model reveals the importance of the effect of the charged metal on the electrostatic potential profile and the electrical double layer capacitances. The results are discussed and compared with the predictions by Gouy Chapman theory.