• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.10a
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• pp.225-227
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• 2012

해상교통안전진단제도의 시행으로, 해상교통에 영향을 미칠 가능성이 있는 모든 건설 사업은 필히 선박운항자 관점에서 그 안전성을 검토하여야 한다. 진단제도의 정량적 평가항목 중에, 선박이 장애물이나 위험지역과의 충돌확률을 평가하는 근접도 평가항목이 있는데, 이는 항로상의 어떤 단면에서의 선박 궤적 분포가 정규 분포를 한다는 가정에 근거하고 있다. 한편, 진단제도의 또 하나의 정량적 평가기법중 하나인 해상교통류 시뮬레이션에서는, 대상 선박들의 예상 항차수로부터 선박을 통계적으로 발생시키는 기법을 사용하는데, 여기에서는 항로상의 특정 지점을 연속해서 통과하는 선박들의 시간 간격이 Poisson 분포를 따른다는 가정을 사용한다. 본 논문에서는 이러한 기본적인 가정들이 적합한지를 고찰하기 위하여, 광양 및 인천항에서 실측한 해상교통현황 조사 결과를 분석하였다.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.8
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• pp.233-247
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• 1999

Traffic accidents are normally caused by late or faulty judgements due to the driver's inaccurate estimation of the distance, velocity, and acceleration from the surrounding vehicles as well as his carelessness or inattention. Thus, the development of collision avoidance systems is motivated by their great potential for increased vehicle safety. A typical collision avoidance system consists of the forward-looking sensor, the criteria for activation of collision warming and avoidance, the collision avoidance maneuvers, and the user interface. This thesis is concerned with the development of a collision warning algorithm in which the driver is warned of approaching collision with the visual and/or the audible signals . The warning algorithm based on fuzzy logic is presented here based on new warning criteria. It has been newly derived from the conventional warning equation by adding a new input variable of the required deceleration to avoid collision. The algorithm is also able to adapt to the individual driver's taste along with the different road conditions by externally controlling the warning intensity. Finally , the proposed algorithm has been validated using computer simulation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.05a
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• pp.194-195
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• 2023

Recently, Maritime Autonomous Surface Ship(MASS) technology has attracted attention as a key technology for ship safety, efficiency, and economic feasibility in the marine field. Decision-making by the navigator's Situation Awareness (SA) for remote control on shore is expected to play an important role in ship collision avoidance. In this study, the navigator's decision-making time for the collision situation was measured.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.3
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• pp.86-99
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• 2021

This research proposes the Accident Prevention System to prevent collision accident that can occur due to blind spots such as crossway or school zone using V2I communication. Vision sensor and LiDAR sensor located in the infrastructure of crossway somewhere like that recognize objects and warn vehicles at risk of accidents to prevent accidents in advance. Using deep learning-based YOLOv4 to recognize the object entering the intersection and using the Manhattan Distance value with LiDAR sensors to calculate the expected collision time and the weight of braking distance and secure safe distance. V2I communication used ROS (Robot Operating System) communication to prevent accidents in advance by conveying various information to the vehicle, including class, distance, and speed of entry objects, in addition to collision warning.

• Proceedings of the Korea Water Resources Association Conference
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• 2022.05a
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• pp.249-249
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• 2022

국외에서 산지재해를 예방하기 위해 하천 유사량을 계측하는 기존의 재래식 채집기의 문제점을 보완한 간접계측장치인 하이드로폰의 개발 및 실용화를 위한 연구를 수행하고 있다. 하지만 국내의 경우 유사량을 계측하는 기술 수준은 선진국에 비해 기초단계에 머물러 있다. 이러한 문제를 해결하기 위해 국내에서 사용하기 적합한 간접계측장치를 개발하고자 한다. 간접계측장치인 하이드로폰은 횡단구조물의 끝단에 부착하여 설치하는 형태로 개발하였다. 충돌음향 계측을 위한 센서부는 파이프와 마이크로폰으로 구성하였으며, 구조물에 부착하기 위한 고정프레임과 연결장치로 제작되었다. 설치된 계측장치는 하상에서 이동중인 토사가 파이프에 충돌할 때 발생하는 소음을 계측하며 충돌음은 데이터로거로 취득된다. 계측된 음향 데이터는 정확한 소류사량 추정을 위해 충돌 횟수에 착안한 펄스 분석 방법과 진폭의 시간 적분치에 착안한 음압적분치 방법으로 비교·검토를 수행하였다. 소류사량 추정 관계식의 유의성 분석을 수행한 후 펄스 수 기반 추정 관계식과 음압적분치 기반 추정 관계식을 공급 소류사량과 비교시 각각 29%와 33%의 오차율을 나타내는 것을 확인할 수 있었다. 앞서 선정된 소류사량 추정 관계식의 신뢰성을 확보하기 위해 관계식으로 추정할 수 있는 예측구간 및 95% 신뢰구간을 분석하였으며, 분석 결과 펄스 수 기반 추정 관계식은 92.5%, 음압적분치 기반 추정 관계식은 90.9%로 두 관계식 모두 소류사량을 추정하기에 양호한 수준으로 일치하는 것을 확인할 수 있었다. 향후 추가적인 연구를 수행한다면 수문조사 시 부족했던 유사량 측정분야의 확대에 기여할 수 있을 것으로 예상되며, 이와 관련된 사업 및 기술발전에도 기여할 것으로 기대된다.

• Journal of the Society of Disaster Information
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• v.16 no.4
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• pp.813-823
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• 2020

Purpose: In order to maximize the stability and productivity of the work through simulation prior to high-risk facilities and high-cost work such as dismantling the facilities inside the reactor, we intend to use digital twin technology that can be closely controlled by simulating the specifications of the actual control equipment. Motion control errors, which can be caused by the time gap between precision control equipment and simulation in applying digital twin technology, can cause hazards such as collisions between hazardous facilities and control equipment. In order to eliminate and control these situations, prior research is needed. Method: Unity 3D is currently the most popular engine used to develop simulations. However, there are control errors that can be caused by time correction within Unity 3D engines. The error is expected in many environments and may vary depending on the development environment, such as system specifications. To demonstrate this, we develop crash simulations using Unity 3D engines, which conduct collision experiments under various conditions, organize and analyze the resulting results, and derive tolerances for precision control equipment based on them. Result: In experiments with collision experiment simulation, the time correction in 1/1000 seconds of an engine internal function call results in a unit-hour distance error in the movement control of the collision objects and the distance error is proportional to the velocity of the collision. Conclusion: Remote decomposition simulators using digital twin technology are considered to require limitations of the speed of movement according to the required precision of the precision control devices in the hardware and software environment and manual control. In addition, the size of modeling data such as system development environment, hardware specifications and simulations imitated control equipment and facilities must also be taken into account, available and acceptable errors of operational control equipment and the speed required of work.

• Journal of Auto-vehicle Safety Association
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• v.5 no.2
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• pp.17-23
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• 2013

This paper describes an algorithm for Advanced Emergency Braking(AEB) with tire-road friction coefficient estimation. The AEB is a system to avoid a collision or mitigate a collision impact by decelerating the car automatically when forward collision is imminent. Typical AEB system is operated by Time-to-collision(TTC), which considers only relative velocity and clearance from control vehicle to preceding vehicle. AEB operation by TTC has a limit that tire-road friction coefficient is not considered. In this paper, Tire-road friction coefficient is also considered to achieve more safe operation of AEB. Interacting Multiple Model method(IMM) is used for Tire-road friction coefficient estimation. The AEB algorithm consists of friction coefficient estimator and upper level controller and lower level controller. The numerical simulation has been conducted to demonstrate the control performance of the proposed AEB algorithm. The simulation study has been conducted with a closed-loop driver-controller-vehicle system using using MATLAB-Simulink software and CarSim Vehicle model.

• Journal of Navigation and Port Research
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• v.47 no.6
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• pp.401-409
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• 2023

This study compared and analyzed the performance of a distributed area search algorithm and a distributed probability search algorithm based on information exchange between ships. The distributed algorithm is a method that can search for an optimal avoidance route based on information exchange between ships. In the distributed area search algorithm, only a ship with the maximum cost reduction among neighboring ships has priority, so the next expected location can be changed. The distributed stochastic search algorithm allows a non-optimal value to be searched with a certain probability so that a new value can be searched. A circular-based ship collision avoidance model was used for the ship-to-ship collision avoidance experiment. The experimental method simulated the distributed area search algorithm and the distributed stochastic search algorithm while increasing the number of ships from 2 to 50 that were the same distance from the center of the circle. The calculation time required for each algorithm, sailing distance, and number of message exchanges were compared and analyzed. As a result of the experiment, the DSSA(Distributed Stochastic Search Algorithm) recorded a 25%calculation time, 88% navigation distance, and 84% of number of message exchange rate compared to DLSA.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.2
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• pp.213-221
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• 2009

An aircraft collision accident is a disaster that causes great losses of inventories and lives. Though a collision avoidance warning function is provided automatically to pilots in the aircrafts by the enhancement of the aircraft capability, achieving fast decision-making to escape a collision situation is a complex and dangerous work for pilots. If an in-flight collision situation is controlled by the air traffic control system which monitors all airplanes in the air, it would be more efficient to prevent in-flight collisions because it can handle the emergency before the pilot's action. In this paper, we develop the collision avoidance warning function in the air traffic control system. Specifically, we design and implement the five stages of the collision avoidance function, and propose a visualization method which could effectively provide the operators with the trajectories and altitudes of the aircrafts in a collision situation. By developing an in-flight collision warning function in the air traffic control system that visualizes flight patterns through the state transition data of in-flight aircrafts on the flight path lines, it can effectively prevent in-flight collisions with traffic alerts. The developed function allows operators to effectively select and control the aircraft in a collision situation by providing the operators with the expected collision time, the relative distance, and the relative altitude while assessing the level of alert, and visualizing the alert information which includes the Attention-Warning-Alert phase via embodying the TCAS standard. With the developed function the air traffic control system could sense an in-flight collision situation before the pilot's decision-making moment.

• Journal of Aerospace System Engineering
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• v.18 no.2
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• pp.56-63
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• 2024

As the safety of unmanned vehicles continues to improve, their usage in urban environments, which are full of obstacles such as buildings, is expected to increase. When numerous unmanned vehicles are operated in such environments, an algorithm that takes into account mutual collision avoidance, as well as static and dynamic obstacle avoidance, is necessary. In this paper, we propose an algorithm that handles task assignment and path planning. To efficiently plan paths, we construct a grid-based map and derive the paths from it. To enable quick re-planning in dynamic environments, we focus on reducing computational time. Through simulation, we explain obstacle avoidance and mutual collision avoidance in small-scale problems and confirm their performance by observing the entire mission completion time (Makespan) in large-scale problems.