Kab-Il Kim

Path Planning Algorithm Using the Particle Swarm Optimization and the Improved Dijkstra Algorithm

In this paper, we develop the path planning algorithm using the improved Dijkstra algorithm and the particle swarm optimization. To get the optimal path, at first we construct the MAKLINK on the world environment and then make a graph associated with the MAKLINK. From the graph, we obtain the Dijkstra path between the starting point and the destination point. From the optimal path, we search the improved Dijkstra path using the graph. Finally, applying the particle swarm optimization to the improved Dijkstra path, we obtain the optimal path for the mobile robot. It turns out that the proposed method has better performance than the result.

Preparation and Characterization of Pitch/Cokes Composite Anode Material for High Power Lithium Secondary Battery

Petroleum pitch and coke with wet mixture method or with dry mixture method were investigated to develop the composite anodic carbon material of high power lithium ion battery. Cokes coated with pitch were obtained by the heat treatment of mixture of cokes and pitch with different weight ratios at 800 ~ 1200oC. The charge and discharge characteristic of the consequent composite anodic carbon material assembled in batteries was tested. Cokes with wet mixture method have a smooth surface and their capacity changed little with changing temperature and content as compared to the cokes with dry mixture method. Although the reversible capacities showed different values by the anode manufacturing method, the composite anode with the mixture of 20 wt% of petroleum pitch and 80 wt% of coke showed the higher power capability and initial efficiency than the pitch based anode. However, the reversible capacity of the composite anode showed the reduced value as compared with the pitch based anode. Keywords : Lithium Secondary Battery, Anode, Carbon, Cokes, Pitch

Low-Pass Filter Property of Dynamic Output Feedback Passivation Controller

We present a state-space approach to design a passivity-based dynamic output feedback controller that achieves stabilization and set-point regulation. A frequency domain analysis is performed in order to test the performances of the low-order control law against measurement noise. It is shown that the proposed control law inherently has low-pass filter property as well as it can successfully replace the measurements of derivative terms in PD control laws. Motivated by the low-pass filter property a higher-order controller is also introduced to enhance the noise reduction property. The effectiveness of the proposed control law is illustrated by numerical simulations and experimental results with a rotary inverted pendulum