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Improved Dynamic Window Approach using the jerk model
Ziang Lin,Ryo Taguchi 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
The Dynamic Window Approach (DWA) method is a collision avoidance strategy for mobile robots that is optimized to take a robot to its goal while maintaining a minimum distance from any obstacle. However, owing to its velocity invariance assumption, it generates narrow paths that may not enable it to avoid obstacles. In addition, it is impossible to control the jerk. To address these issues, we propose a method for generating speed change paths based on jerk models. First, we limited the maximum jerk in the model. Second, we used the model to generate variable speed sequences to obtain a wider range of paths. We added jerk as a term in the evaluation function to prevent consistently large jerks. We verified the effectiveness of the proposed method by comparing the results with the conventional method through simulation experiments.
「西南」と「極東」の間に―「二重の周縁」の視座からみる近代雲南―
董子昂 ( Dong Ziang ) 동서대학교 일본연구센터 2024 次世代 人文社會硏究 Vol.20 No.-
「雲南」という言葉は、直訳すると雲の南である。つまりこの地域は中華帝国の想像の産物として、帝国の南の空に漂う雲の下の場所を意味する。それゆえ雲南は、長きにわたって中心から遠く離れ、後進的な多民族が雑居する辺境地域と認識されていた。しかし19世紀後半から、フランス人が著わした旅行記が大量に出版されると、そこで雲南は南仏に似た暖かい気候をもち、開発を待つ処女地として描かれた。こうしたフランス語の旅行記は、無論植民地主義の色彩を帯びているものの、その一方で中華帝国による従来の語りとは異なるもう一つのナラティブを含んでいる。本研究は、二つの帝国が雲南に投げかけたまなざしの交錯から、雲南がいかにして中華帝国の西南とフランス殖民地帝国の極東に位置付けられ、「二重の周縁」として構築されたのかを分析する。また本研究は、近代雲南知識人が発刊した新聞雑誌を分析し、彼らがいかに周縁性を思考し、さらに主体性を創出したのかを検討する。 In Chinese, Yunnan means the south side of the clouds. Yet, where exactly is Yunnan? Existing in the Chinese Empire’s imagination, it is located under the clouds drifting in the Empire’s southern sky: a marginal area inhabited by many ethnic groups. However, from the mid-19th century, Yunnan was portrayed in a large number of travelogues written by the French as a land of unexplored beauty, a land which was considered to be very similar to Southern France. There is no doubt that such writing was a reflection of French colonialism, but it was also a departure from the traditional Chinese description of Yunnan as a borderland of barbarians. This study therefore attempts to analyze how Yunnan was constructed as a double periphery (Southwest of China and the Far East of France) at the intersection of imperial gazes. Furthermore, this study analyzes the newspapers published by modern Yunnan intellectuals, and explains how they thought about the characterization of being peripheries and how they created the subjectivity.
강보석,김민제,( Ziang Wu ),우한영,조정호 한국공업화학회 2019 한국공업화학회 연구논문 초록집 Vol.2019 No.1
Replacement of toxic chlorinated solvents with eco- and humanfriendly green solvents is an important task for the successful implemention of next-generation polymer electronics technology. Herein, we synthesized five aqueous-solvent-processable conjugated copolymers by incorporating linear or branched oligo(ethylene glycol) side chains and systematically investigated their material and electronic properties. The resulting benzothiadiazole-based copolymers were well-soluble in both an ethanol/water mixed solvent, and their thin films showed distinct morphologies and crystalline characteristics that resulted from the self-assembling properties of the engineered side chains. Moreover, the copolymers showed excellent electrical characteristics with high hole mobilities of up to 0.1 ㎠ V<sup>-1</sup> s<sup>-1</sup>. These results clearly demon strate the immense potential of branched oligo(ethylene glycol) side chains for application in green electronics. Keywords: oligoethylene glycol, side-chain engineering
Lee, Seungjin,Kim, Youngwoong,Wu, Ziang,Lee, Changyeon,Oh, Seung Jin,Luan, Nguyen Thanh,Lee, Junbok,Jeong, Dahyun,Zhang, Kai,Huang, Fei,Kim, Taek-Soo,Woo, Han Young,Kim, Bumjoon J. American Chemical Society 2019 ACS APPLIED MATERIALS & INTERFACES Vol.11 No.48
<P>Aqueous-processed all-polymer solar cells (aq-APSCs) are reported for the first time by developing a series of water/ethanol-soluble naphthalenediimide (NDI)-based polymer acceptors [P(NDIDEG-T), P(NDITEG-T), and P(NDITEG-T2)]. Polymer acceptors are designed by using the backbones of NDI-bithiophene and NDI-thiophene in combination with nonionic hydrophilic oligoethylene glycol (OEG) side chains that facilitate processability in water/ethanol mixtures. All three polymers exhibit sufficient solubility (20-50 mg mL<SUP>-1</SUP>) in the aqueous medium. The P(NDIDEG-T) polymer with shorter OEG side chains is the most crystalline with the highest electron mobility, enabling the fabrication of efficient aq-APSCs with the maximum power conversion efficiency (PCE) of 2.15%. Furthermore, these aq-APSCs are fabricated under ambient atmosphere by taking advantage of the eco-friendly aqueous process and, importantly, the devices exhibit outstanding air-stability without any encapsulation, as evident by maintaining more than 90% of the initial PCE in the air after 4 days. According to a double cantilever beam test, the interfacial adhesion properties between the active layer and electron/hole transporting layers were remarkably improved by incorporating the hydrophilic OEG-attached photoactive layer, which hinders the delamination of the constituent layers and prevents the increase of series resistance, ultimately leading to enhanced durability under ambient conditions. The combination of increased device stability and minimal environmental impact of these aq-APSCs demonstrates them to be worthy candidates for continued development of scalable polymer solar cells.</P> [FIG OMISSION]</BR>