• Journal of the Korean Society of Marine Environment & Safety
• /
• v.27 no.5
• /
• pp.557-565
• /
• 2021

Path-following control is considered as one of the most fundamental skills to realize autonomous navigation of marine vessels in the ocean. This study addresses with the path-following control for a ship in which there are environmental disturbances in the directions of the surge, sway, and yaw motions. The guiding principle and back-stepping method was utilized to solve the ship's tracking problem on the reference path generated by a virtual ship. For path-following control, error dynamics is one of the most important skills, and it extends to the research fields of automatic collision avoidance and automatic berthing control. The algorithms for the guiding principles and error variables have been verified by numerical simulation. As a result, most error variables converged to zero values with the controller except for the yaw angle error. One of the most interesting results is that the tracking errors of path-following control between two ships are smaller than the existing safe passing distances considering interaction forces from near passing ships. Moreover, a trade-off between tracking performance and the ship's safety should be considered for determining the proper control parameters to prevent the destructive failure of actuators such as propellers, fins, and rudders during the path-following of marine vessels.

• International Area Studies Review
• /
• v.17 no.4
• /
• pp.155-179
• /
• 2013

Becoming independent in 1956, Sudan has since experienced a number of coups $d^{\prime}{\acute{e}}tat$, religious conflicts between the Islamic north and the Christian south, conflicts between the north-south population composition and races, two civil wars for nearly 40 years due to a clash of interests over resources and others, and the Darfur crisis in which hundreds of thousands died. In 1983, as the Sudanese government forced Islamic laws on the southern region where many Christians lived, the civil war resumed and suffered heavy casualties. Although a brief period of tranquility is maintained at the present moment as South Sudan seceded, military conflicts continue to arise. The objective of this research is to understand the North-South Sudan conflict by examining its history and course. For this purpose, chapter 2 will make a theoretical and reality approach for conflict items and solutions. Chapter 3 will discuss the historical background and reasons for the Sudanese conflict by considering Sudan before 19th century, the Egyptian conquest of Sudan and the diverging North and South, Sudanese independence and other divisions yet again, and finally the North-South conflicts over religion and resources. In Chapter 4, there will be an analysis of the course of the Sudan Civil War by separating it into the First and Second Civil War. In Chapter 5, the consequences and future prospect will be presented in lieu of the conclusion.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.22 no.6
• /
• pp.1-10
• /
• 2021

The interest in underwater acoustic sensor networks (UWASNs), along with the rapid development of underwater industries, has increased. To operate UWASNs efficiently, it is important to adopt well-designed medium access control (MAC) protocols that prevent collisions and allow the sharing of resources between nodes efficiently. On the other hand, underwater channels suffer from a narrow bandwidth, long propagation delay, and low data rate, so existing terrestrial node pairing schemes for non orthogonal multiple access (NOMA) cannot be applied directly to underwater environments. Therefore, a multi-dimensional node pairing scheme is proposed to consider the unique underwater channel in UWASNs. Conventional NOMA schemes have considered the channel quality only in node pairing. Unlike previous schemes, the proposed scheme considers the channel gain and many other features, such as node fairness, traffic load, and the age of data packets to find the best node-pair. In addition, the sender employs a list of candidates for node-pairs rather than path loss to reduce the computational complexity. The simulation results showed that the proposed scheme outperforms the conventional scheme by considering the fairness factor with 23.8% increases in throughput, 28% decreases in latency, and 5.7% improvements in fairness at best.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.28 no.5
• /
• pp.780-790
• /
• 2022

Quantitative risk levels must be presented by analyzing the causes and consequences of accidents and predicting the occurrence patterns of the accidents. For the analysis of marine accidents related to vessel traffic, research on the traffic such as collision risk analysis and navigational path finding has been mainly conducted. The analysis of the occurrence pattern of marine accidents has been presented according to the traditional statistical analysis. This study intends to present a marine accident prediction model using the statistics on marine accidents related to vessel traffic. Statistical data from 1998 to 2021, which can be accumulated by month and hourly data among the Korean domestic marine accidents, were converted into structured time series data. The predictive model was built using a long short-term memory network, which is a representative artificial intelligence model. As a result of verifying the performance of the proposed model through the validation data, the RMSEs were noted to be 52.5471 and 126.5893 in the initial neural network model, and as a result of the updated model with observed datasets, the RMSEs were improved to 31.3680 and 36.3967, respectively. Based on the proposed model, the occurrence pattern of marine accidents could be predicted by learning the features of various marine accidents. In further research, a quantitative presentation of the risk of marine accidents and the development of region-based hazard maps are required.

• KIPS Transactions on Software and Data Engineering
• /
• v.12 no.6
• /
• pp.275-284
• /
• 2023

Virtual reality simulations are used for education and training in various fields, and are especially widely used in the medical field recently. The education/training simulator consists of tactile/force feedback generation and image/sound output hardware that provides a sense similar to a doctor's treatment of a real patient using real surgical tools, and software that produces realistic images and tactile feedback. Existing simulators are complicated and expensive because they have to use various types of hardware to simulate various surgical instruments used during surgery. In this paper, we propose a dental surgical simulation system using a force feedback device and a morphable haptic controller. Haptic hardware determines whether the surgical tool collides with the surgical site and provides a sense of resistance and vibration. In particular, haptic controllers that can be deformed, such as length changes and bending, can express various senses felt depending on the shape of various surgical tools. When the user manipulates the haptic feedback device, events such as movement of the haptic feedback device or button clicks are delivered to the simulation system, resulting in interaction between dental surgical tools and oral internal models, and thus haptic feedback is delivered to the haptic feedback device. Using these basic techniques, we provide a realistic training experience of impacted wisdom tooth extraction surgery, a representative dental surgery technique, in a virtual environment represented by sophisticated three-dimensional models.

• Advanced Industrial SCIence
• /
• v.3 no.1
• /
• pp.23-29
• /
• 2024

In this scholarly investigation, the focus is placed on the transformative potential of edge computing in enhancing Intelligent Transportation Systems (ITS) for the facilitation of autonomous driving. The intrinsic capability of edge computing to process voluminous datasets locally and in a real-time manner is identified as paramount in meeting the exigent requirements of autonomous vehicles, encompassing expedited decision-making processes and the bolstering of safety protocols. This inquiry delves into the synergy between edge computing and extant ITS infrastructures, elucidating the manner in which localized data processing can substantially diminish latency, thereby augmenting the responsiveness of autonomous vehicles. Further, the study scrutinizes the deployment of edge servers, an array of sensors, and Vehicle-to-Everything (V2X) communication technologies, positing these elements as constituents of a robust framework designed to support instantaneous traffic management, collision avoidance mechanisms, and the dynamic optimization of vehicular routes. Moreover, this research addresses the principal challenges encountered in the incorporation of edge computing within ITS, including issues related to security, the integration of data, and the scalability of systems. It proffers insights into viable solutions and delineates directions for future scholarly inquiry.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.23 no.4
• /
• pp.110-126
• /
• 2024

Several studies have focused on developing the safest and most efficient path from the current location to the available parking area for vehicles entering a parking lot. In the present study, the parking lot structure and parking environment such as the lane width, width, and length of the parking space, were vaired by referring to the actual parking lot with vertical and horizontal parking. An automatic parking path planning model was proposed by collecting path data by various setting angles and environments such as a starting point and an arrival point, by putting the collected data into a deep learning model. The existing algorithm(Hybrid A-star, Reeds-Shepp Curve) and the deep learning model generate similar paths without colliding with obstacles. The distance and the consumption time were reduced by 0.59% and 0.61%, respectively, resulting in more efficient paths. The switching point could be decreased from 1.3 to 1.2 to reduce driver fatigue by maximizing straight and backward movement. Finally, the path generation time is reduced by 42.76%, enabling efficient and rapid path generation, which can be used to create a path plan for autonomous parking during autonomous driving in the future, and it is expected to be used to create a path for parking robots that move according to vehicle construction.

• Economic and Environmental Geology
• /
• v.35 no.1
• /
• pp.1-12
• /
• 2002

Manus Basin, located in the equatorial western Pacific, is a back arc basin formed by collision between the IndoAustralian and the Pacific Plates. The basin is host to numerous hydrothermal vent fields and ore deposits. The basement rocks of the Manus Basin consist primarily of dacite and basaltic andesite. Some of the minerals that form the hydrothermal chimneys that were dredged on the Manus basin include pyrite, chalcopyrite, marcasite, sphalerite and galena. The chimneys can be classified into chalcopyrite dominant Cu-rich type and sphalerite dominant Zn-rich type. The concentration of Zn shows good positive correlation with that of Sb, Cd and Ag. The content of Cu, on the other hand, positively correlates with that of Mo, Mn and Co. For samples that were taken from Zn-rich chimney, a strong positive correlation is found between Au and Zn contents. The chimney also shows enrichments of Cd, Mn and Sb. On the other hand, the samples from Cu-rich chimney exhibit strong correlation among Au, Zn and Pb, and are enriched in Mo and Co concentration. Average contents of Au in Cu-rich and Znrich chimneys were 15.9 ppm and 29.0 ppm, respectively. Because of high concentration of Au with Ag and Cu, the ore deposit have high economic potential. Homogenization temperatures and salinities of fluid inclusions in anhydrite and amorphous silica from Zn-rich chimney are estimated to be l74-220$^{\circ}$C and 2.7-3.6 equiv. wt. % NaCI, respectively. These value suggest that ore forming processes were occurred at around 200$^{\circ}$C and that the oxygen fugacity changed from 2: 10$^{-39.5}$bar to -s: 10$^{-40.8}$bar and the sulfur fugacity from -s: 10$^{-14.7}$bar to 10$^{-13.4}$bar during the process. It appears that the temperature at which the ores formed on Cu-rich chimney was higher than that on Zn-rich chimney.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.24 no.5
• /
• pp.628-636
• /
• 2018

Because large buoys are mainly made of steel, they are heavy and vulnerable to corrosion by sea water. This makes buoy installation and maintenance difficult. Moreover, vessel collision accidents with buoys and damage to vessels due to the material of buoys (e.g., steel) are reported every year. Recently, light buoys adopting eco-friendly and lightweight materials have come into the spotlight in order to solve the previously-mentioned problems. In Korea, a new lightweight buoy with a 7-Nautical Mile lantern adopting expanded polypropylene (EPP) and aluminum to create a buoyant body and tower structure, respectively, was developed in 2017. When these light buoys are operated in the ocean, the visibility and angle of light from the lantern installed on the light buoys changes, which may cause them to function improperly. Therefore, research on the performance of light buoys is needed since the weight distribution and motion characteristics of these new buoys differ from conventional models. In this study, stability estimation and motion analyses for newly-developed buoys under various environmental conditions considering a mooring line were carried out using ANSYS AQWA. Numerical simulations for the estimation of wind and current loads were performed using commercial CFD software, Siemens STAR-CCM+, to increase the accuracy of motion analysis. By comparing the estimated maximum significant motions of the light buoys, it was found that waves and currents were more influential in the motion of the buoys. And, the estimated motions of the buoys became larger as the sea state became worser, which might be the reason that the peak frequencies of the wave spectra got closer to those of the buoys.

• Journal of Sasang Constitutional Medicine
• /
• v.9 no.2
• /
• pp.39-55
• /
• 1997

Purpose : Dong-Mu(東武) Lee Je-Ma(李濟馬) was designated as a member of fifty persons 'The Wise Ancestors of Korean Culture and Art' in 1984 and the december of 1996 was appointed as 'The Month of Lee Je-Ma'. Though his achivements was valued like this, some historian criticized that he suppressed the righteous army. So this study was for clarifing the background, the motive, and the course of 'The Rising of Choi Moon-Hwan' occurred in Hamhung on february in 1896, and for the correct appraisement about this event. And also through this, author tried to make clear the origin of Lee Je-Ma's thought. Method : After studing the background of the end of Chosun dynasty and the righteous army in 1895(乙未義兵). Author made a comparative study through the historical materials of the goverment side, the Choi Moon-Hwan side, and the Lee Je-Ma side about 'The Rising of Choi Moon-Hwan' occurred in Hamhung on februrary in 1896. Results & Conclusion : The event occurred in Hamhung on february in 1896 was a part of rebellion of the righteous army in 1895 which had risen against The startling Occurrence of 1895'(乙未義兵) and 'The Royal Commands To Cut Off People's Hair'(斷髮令). Lee Je-Ma suppressed the Rising and put Choi Moon-Hwan in the prison, and which was criticized that he suppressed the righteous army later day. That time was a conflict period between conservatism and civilization, and the Lee Je-Ma's act was the best way to protect the security of residents from the attack which maybe occurred by Japanese army in Wonsan. Judging from this events, author could find Lee Je-Ma's thought was quite different from righteous army's neo-confucianism and conservatism. In the aspect of the history of 'Korean National Movement', further study about Choi Moon-Hwan, the chief of righteous army will be need.