• Journal of the Korean Society of Manufacturing Technology Engineers
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• 제7권1호
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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 KIEE Conference
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• 대한전기학회 1989년도 하계종합학술대회 논문집
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• pp.323-328
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• 1989

In this paper, we studied the diagnostic method of insulation deterioration for 22.9kV CNCV cable using D.C potential decay component. At first, arbitrary D.C high voltage is appeied the CNCV cable for two minutes and switched off in vacuum. And then D.C potential decay components is measured for ten minutes. It is detecting source for cable insulation deterioration that its gradient is. Provisionally, we decided the criterion voltage and select the high voltage meter and S.W.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 한국공작기계학회 1998년도 춘계학술대회 논문집
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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.

• The Journal of Korea Robotics Society
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• 제1권1호
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• pp.9-16
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• 2006

The Mobile robots are increasingly being used to perform tasks in unknown environments. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. An algorithm has been developed for robots which explore the environment to measure the physical properties (dust in this paper). While the robot is moving, it measures the amount of dust and registers the value in the corresponding grid cell. The robot moves from local maximum to local minimum, then to another local maximum, and repeats. To reach the local maximum or minimum, simple gradient following is used. Robust estimation of the gradient using perturbation/correlation, which is very effective when analytical solution is not available, is described. By introducing the probability of each grid cell, and considering the probability distribution, the robot doesn't have to visit all the grid cells in the environment still providing fast and efficient sensing. The extended algorithm to coordinate multiple robots is presented with simulation results.

• Structural Engineering and Mechanics
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• 제20권4호
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• pp.435-450
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• 2005

Here, the dynamic instability characteristics of aero-thermo-mechanically stressed functionally graded plates are investigated using finite element procedure. Temperature field is assumed to be a uniform distribution over the plate surface and varied in thickness direction only. Material properties are assumed to be temperature dependent and graded in the thickness direction according to simple power law distribution. For the numerical illustrations, silicon nitride/stainless steel is considered as functionally graded material. The aerodynamic pressure is evaluated based on first-order high Mach number approximation to the linear potential flow theory. The boundaries of the instability region are obtained using the principle of Bolotin's method and are conveniently represented in the non-dimensional excitation frequency-load amplitude plane. The variation dynamic instability width is highlighted considering various parameters such as gradient index, temperature, aerodynamic and mechanical loads, thickness and aspect ratios, and boundary condition.

• Bulletin of the Korean Mathematical Society
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• 제60권6호
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• pp.1673-1685
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• 2023

Inspired by Hongjie Dong and Qi S. Zhang's article [3], we find that the analyticity in time for a smooth solution of the heat equation with exponential quadratic growth in the space variable can be extended to any complete noncompact Riemannian manifolds with Bakry-Émery Ricci curvature bounded below and the potential function being of at most quadratic growth. Therefore, our result holds on all gradient Ricci solitons. As a corollary, we give a necessary and sufficient condition on the solvability of the backward heat equation in a class of functions with the similar growth condition. In addition, we also consider the solution in certain L^p spaces with p ∈ [2, +∞) and prove its analyticity with respect to time.

• Kyungpook Mathematical Journal
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• 제63권4호
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• pp.623-638
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• 2023

In this article we study a 𝛿-Ricci-Yamabe almost soliton within the framework of paracontact metric manifolds. In particular we study 𝛿-Ricci-Yamabe almost soliton and gradient 𝛿-Ricci-Yamabe almost soliton on K-paracontact and para-Sasakian manifolds. We prove that if a K-paracontact metric g represents a 𝛿-Ricci-Yamabe almost soliton with the non-zero potential vector field V parallel to 𝜉, then g is Einstein with Einstein constant -2n. We also show that there are no para-Sasakian manifolds that admit a gradient 𝛿-Ricci-Yamabe almost soliton. We demonstrate a 𝛿-Ricci-Yamabe almost soliton on a (𝜅, 𝜇)-paracontact manifold.

• Nuclear Engineering and Technology
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• 제53권2호
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• pp.592-602
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• 2021

Thorium compounds have attracted immense scientific and technological attention with regard to both fundamental and practical implications, owing to unique chemical and physical properties like high melting point, high density and thermal conductivity. Hereby, we investigate the mechanical and thermodynamic stability and report on the structural, electronic and magnetic properties of new silicon-doped cubic ternary thorium phosphides ThSi_xP_1-x (x = 0, 0.25, 0.5, 0.75 and 1). The first-principles density functional theory procedure was adopted within full-potential linearized augmented plane wave (FP-LAPW) method. The exchange and correlation potential terms were treated within Generalized-Gradient-Approximation functional modified by Perdew-Burke-Ernzerrhof parameterizations. The proposed compounds showed mechanical and thermodynamic stable structure and hence can be synthesized experimentally. The calculated lattice parameters, bulk modulus, total energy, density of states, electronic band structure and spin magnetic moments of the compounds revealed considerable correlation to the Si substitution for P and the relative Si/P doping concentration. The electronic and magnetic properties of the doped compounds rendered them non-magnetic but metallic in nature. The main orbital contribution to the Fermi level arises from the hybridization of Th(6d+5f) and (Si+P)3p states. Reported results may have potential implications with regard to both fundamental point of view and technological prospects such as fuel materials for clean nuclear energy.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• 제36권5호
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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.

• Journal of Integrative Natural Science
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• 제3권4호
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• pp.231-236
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• 2010

Partial charge is an important and fundamental concept which can explain many aspects of chemistry. Since a molecule can be regarded as neclei surrounded by electron cloud, there is no way to define a partial charge accurately. Nevertheless, there have been many attempts to define these seemingly impossible parameters, since they would facilitate the understanding of molecular properties such as molecular dipole moment, solvation, hydrogen bonding, molecular spectroscopy, chemical reaction, etc. Common methods are based on the charge equalization, orbital occupancy, charge density, and electric multipole moments, and electrostatic potential fitting. Methods based on the charge equalization using electronegativity are very fast, and therefore they have been used to study many compounds. Methods to subdivide orbital occupancy using basis set conversion, relies on the notion that molecular orbitals are composed of atomic orbitals. The main idea is to reduce overlap integral between two nuclei using converted orthogonal basis sets. Using some quantum mechanical observables like electrostatic potential or charge multipole moments. Using potential grids obtained from wavefunction, partial charges can be fitted. these charges are most useful to describe intermolecular electrostatic interactions. Methods to using dipole moment and its derivatives, seems to be sensitive the level of theory, Dividing electron density using density gradient being the most rigorous theoretically among various schemes, bears best potential to describe the charge the most adequately in the future.