• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.2
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• pp.153-160
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• 2011

The characteristics of supersonic coaxial/off-axis jet impingements on a slanted kerf surface were experimentally studied, to investigate the role of the assist gas that removes molten materials from cut zone formed by laser machining. In this parametric study, hundreds of high-resolution schlieren images were obtained for various gas pressures, distances between nozzle exit and kerf surface, kerf widths, and alignments of off-axis nozzle. It was noticed that simply increasing the assist gas pressure was not effective in eliminating the flow separation that occurs downstream of the kerf surface. However, it was also observed that by increasing the kerf width and utilizing off-axis nozzles, the separation of the assist gas on the kerf surface can be weakened. The effect of the distance between the nozzle exit and the kerf surface on the characteristics of separation occurring on the kerf surface was found to be lower in the case of supersonic nozzles than that in the case of sonic nozzles.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.971-980
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• 2010

In this paper, we present a navigation control algorithm for mobile robots that move in environments having static and moving obstacles. The algorithm includes a global and a local path-planning algorithm that uses $D^*$ search algorithm, a fuzzy logic for determining the immediate level of danger due to collision, and a fuzzy logic for evaluating the required wheel velocities of the mobile robot. To apply the $D^*$ search algorithm, the two-dimensional space that the robot moves in is decomposed into small rectangular cells. The algorithm is verified by performing simulations using the Python programming language as well as by using the dynamic equations for a two-wheeled mobile robot. The simulation results show that the algorithm can be used to move the robot successfully to reach the goal position, while avoiding moving and unknown static obstacles.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.2
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• pp.95-101
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• 2017

In this study, we derived theoretical equations for the zigzag movement of a leading vehicle, which is the most frequent behavior in train accidents, by using a simplified spring-mass model for the rolling stock. In order to solve the equations of motion, we applied the Runge-Kutta method, which is the typical numerical analysis method used for differential equations. Furthermore, the lateral displacement of the wheel-set at the wheel-rail interface was estimated using kinetic energy. In order to verify the derived equations, we compared the theoretical and simulated results under various collision conditions. The maximum relative deviations of the lateral displacements were 0.8 [%] ~ 4.7 [%] in light collisions and 0.6 [%] ~ 5.1 [%] under derailment conditions. When an accident is simulated, these theoretical equations can be used to predict the overall behavior and obtain the offset of the body-to-body link as the initial perturbation.

• Journal of IKEEE
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• v.22 no.3
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• pp.866-869
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• 2018

This paper presents the analysis of the human driving behavior based on the expression as a GMDH technique focusing on the driver's collision avoidance maneuver. The driving data are collected by using the three dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. A GMDH is also introduced and applied to the measured data in order to build a mathematical model of driving behavior. From the obtained model, it is found that the longitudinal distance between cars($x_1$), the longitudinal relative velocity($x_2$) and the lateral displacement between cars($x_4$) play important roles in the collision avoidance maneuver under the 3D environments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.3B
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• pp.165-173
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• 2012

In this paper, we propose a random backoff scheme for Emergency Warning Messages (EWMs) in the vehicle-to-vehicle environment. The EWMs are disseminated from a vehicle that detects an emergency situation to other vehicles in a multi-hop fashion. Since the vehicle-to-vehicle communication based on IEEE 802.11 adapts CSMA/CA, the density of vehicles increase the probability of collisions between transmissions. Moreover, in the presence of background traffic, the EWM should have a higher priority than that of other messages in neighboring vehicles. To that end, we propose the Distant-Dependent Adaptive Backoff (DDAB) scheme, which set a different contention window for random backoff depending on the distance from the sender to the receiver. In the case when a vehicle is expected to located in the outskirts of the communication boundary, the proposed scheme makes the contention window size small in order to compete the background traffic transmission. Otherwise the contention window is set to a large number to reduce the collision possibility among the EWM transmissions. Via simulations, we show that the proposed scheme performs better than the previous schemes for EWM.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.9
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• pp.752-761
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• 2014

With increasing of interest in quad-rotor which has excellent maneuverability recently, a various types of multi-rotor aircraft was developed and commercialized, and there are many kinds of leisure products to be easily operated. In these products, the AR.Drone manufactured by Parrot has an advantage that it is easily operated by user due to the its internal stabilization loop in the on-board computer. Thus it is possible to design the unmanned UAV system easily by using this AR.Drone and its inner loop for the stabilization. For this advantage, KARI(Korea Aerospace Research Institute) has been developing the indoor swarming flight system by using multiple AR.Drones. For this indoor swarming flight, it is necessary that not only the position controller for each AR.Drone, but also the collision avoidance algorithm. Therefore, in this paper, the collision avoidance controller is provided for the swarm flight by using these AR.Drones.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.8
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• pp.5051-5059
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• 2015

Structural behaviour of the front loader for an agricultural tractor was analyzed for three impact test conditions: drop and catch, corner pull, and corner push. Rigid-body dynamic, transient structural, and static structural analyses were conducted using a commercial finite element software. Analysis of the drop and catch test dealt with the case that the bucket located at the maximum elevation was dropped and catched through three steps. Analysis of the corner pull test dealt with the case that the bucket constrained to the ground by a chain at its corner was raised suddenly. Analysis of the corner push test dealt with the case that the corner of the bucket collided with an obstacle. Results of analyses of the three test conditions showed that maximum stress occurs at the geometrically discontinuous location in the mount and is caused from local stress concentration. Results of the present research can be utilized as a guideline to achieve more reliable and safe structural design of the front loaders.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.1
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• pp.50-60
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• 2015

A Block-Time-Bounded Time Division Multiple Access (BTB-TDMA) medium access control protocol, which estimates the propagation delay of nodes according to their location and moving velocity information, has been proposed for underwater acoustic networks. BTB-TDMA provides nodes with their transmission schedules by a time block that is a time unit, newly designed for BTB-TDMA. In this paper, we investigate how the receiver collision, that is induced by the asymmetry between node's uplink and downlink propagation delay due to its mobility, affects the performance of BTB-TDMA. To do this, we analytically obtain the collision rate, the channel access delay, and the channel utilization by considering the asymmetry of propagation delay. Then, simulations are extensively performed with respect to the length of a time block by varying the number of nodes, the network range, and the node's velocity. Thus, the simulation results can suggest performance criteria to determine the optimal length of a time block which minimizes the collision rate and concurrently maximizes the channel access delay and the channel utilization.

• Journal of the Korea Society of Computer and Information
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• v.27 no.3
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• pp.63-69
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• 2022

In this paper, we propose a new GPU-based framework for quickly calculating adaptive and continuous SDF(Signed distance fields), and examine cases related to rendering/collision processing using them. The quadtree constructed from the triangle mesh is transferred to the GPU memory, and the Euclidean distance to the triangle is processed in parallel for each thread by using it to find the shortest continuous distance without discontinuity in the adaptive grid space. In this process, it is shown through experiments that the cut-off view of the adaptive distance field, the distance value inquiry at a specific location, real-time raytracing, and collision handling can be performed quickly and efficiently. Using the proposed method, the adaptive sign distance field can be calculated quickly in about 1 second even on a high polygon mesh, so it is a method that can be fully utilized not only for rigid bodies but also for deformable bodies. It shows the stability of the algorithm through various experimental results whether it can accurately sample and represent distance values in various models.

• Journal of Aerospace System Engineering
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• v.18 no.2
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• pp.1-11
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• 2024

This paper applies a relative impact angle control guidance law to a communication-based multi-missile network system with uncertainties and disturbances. The multi-missile network system is represented as a transitive reduction directed acyclic graph. Furthermore, this paper introduces both centralized and decentralized guidance laws based on the graph's structure. The relationship between these guidance laws is analyzed by comparing them based on the communication structure and the presence of system noise. To analyze the effects of decentralized optimal cooperative guidance law, this paper assumes uncertainty in missile dynamics and predicted impact point information for the relative impact angle control mission. Monte Carlo simulations are conducted for various mission environments to analyze the impact of communication and its structure on the system.