• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.234-241
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• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• Aerospace Engineering and Technology
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• v.5 no.2
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• pp.248-257
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• 2006

There will come someday when UAUs can fly into the airspace of manned aircraft in the near future because of the increasing number of operational UAUs together with technologies development. Since pilots of UAVs are on the gound, the equipment for sensing and avoiding obstacles in front is indispensable. In this paper, we analyze functions and interfaces of TCAS II, a collision avoidance device for manned aircraft, then find out whether it is suitable for the collision avoidance device for UAV and problems associated with it, if any. It turns out to be that the onboard directional antenna of TCAS II does not provide a precise directional information, and that the TCAS II is not assumed to be installed alone, but used as supplementary with other device which provides the better precision.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.2
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• pp.435-442
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• 2000

In the world of mobile agents, security aspects are extensively being discussed, with strong emphasis on how agents can be protected against malicious hosts and vice versa. This paper discusses methods for protecting an agent's route information from being misused by sites on route interested in gaining insight into the profile of the agent's owner or in obstructing the owner's original goal. Our methods provide visited sites with just a minimum of route information, but on the other hand allow sites to detect modifying attacks of preceding sites. Though, under noncolluding attacks, all methods presented provide a similar level of protection, the performance and the points of time differ when an attack can be detected.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.1056-1058
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• 2022

본 연구는 항만에서 안전 수칙을 위반하여 발생하는 사고 및 이상행동을 실시간 탐지를 수행한 후 위험 상황을 관리자가 신속하고 정확하게 대처할 수 있도록 지원하는 지능형 CCTV, Smart Eye를 제안한다. Smart Eye는 컴퓨터 비전(Computer Vision) 기반의 다양한 객체 탐지(Object Detection) 모델과 행동 인식(Action Recognition) 모델을 통해 낙하 및 전도사고, 안전 수칙 미준수 인원, 폭력적인 행동을 보이는 인원을 복합적으로 판단하며, 객체 추적(Object Tracking), 관심 영역(Region of Interest), 객체 간의 거리 측정 알고리즘을 구현하여, 제한구역 접근, 침입, 배회, 안전 보호구 미착용 인원 그리고 화재 및 충돌사고 위험도를 측정한다. 해당 연구를 통한 자동화된 24시간 감시체계는 실시간 영상 데이터 분석 및 판단 처리 과정을 거친 후 각 장소에서 수집된 데이터를 관리자에게 신속히 전달하고 항만 내 통합관제센터에 접목함으로써 효율적인 관리 및 운영할 수 있게 하는 '지능형 인프라'를 구축할 수 있다. 이러한 체계는 곧 스마트 항만 시스템 도입에 이바지할 수 있을 것으로 기대된다.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.29 no.3
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• pp.214-224
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• 2018

Continuous space development increases the occurrence probability of space hazards such as collapse of a satellite and collision between a satellite and space debris. In Korea, a space surveillance network with optical system has been developed; however, the radar technology for an independent space surveillance needs to be secured. Herein, an L-band phased array radar system for the detection and tracking of space objects is proposed to provide a number of services including collision avoidance and the prediction of re-entry events. With the mission analysis of space surveillance and the case analysis of foreign advanced radar systems, the radar parameters are defined and designed. The proposed radar system is able to detect a debris having a diameter of 10 cm at a maximum distance of 1,576 km. In addition, we confirmed the possibility of using the space surveillance mission for domestic satellites through the analysis of the detection area.

• Journal of the Korea Society of Computer and Information
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• v.16 no.9
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• pp.69-76
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• 2011

According to the related reports, about 60 percents of ship collisions have resulted from operating mistake caused by human factor. Specially, the report said that negligence of observation caused 66.8 percents of the accidents due to a human factor. Hence automatic detection and tracking of an object from an IR images are crucial for safety navigation because it can relieve officer's burden and remedies imperfections of human visual system. In this paper, we present a method to detect an object such as ship, rock and buoy from a sea IR image. Most edge directions of the sea image are horizontal and most vertical edges come out from the object areas. The presented method uses them as a characteristic for the object detection. Vertical edges are extracted from the input image and isolated edges are eliminated. Then morphological closing operation is performed on the vertical edges. This caused vertical edges that actually compose an object be connected and become an object candidate region. Next, reference object regions are extracted using horizontal edges, which appear on the boundaries between surface of the sea and the objects. Finally, object regions are acquired by sequentially integrating reference region and object candidate regions.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.1
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• pp.17-22
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• 2013

If we were in a head-on or crossing situation with a target ship and did not know the target ship's intention to change her course, we might be confused about our decision making to change our course for collision avoidance and be in a danger of collision. In order to solve these problems, we need to develop an automatic system which enables mariners to easily detect a change in the target ship's course and efficiently avoid being on a collision course. In this paper, we proposed an early detection method on altering course of a target ship using the steering wheel signal. This method will contribute to the reduction of collision accidents and also be used to the VTS system and the analysis of marine accidents.

• Journal of Internet of Things and Convergence
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• v.9 no.6
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• pp.37-44
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• 2023

As a primary technology of Industry 4.0, human-robot collaboration (HRC) requires additional measures to ensure worker safety. Previous studies on avoiding collisions between collaborative robots and workers mainly detect collisions based on sensors and cameras attached to the robot. This method requires complex algorithms to continuously track robots, people, and objects and has the disadvantage of not being able to respond quickly to changes in the work environment. The present study was conducted to implement a web-based platform that manages collaborative robots by recognizing the emotions of workers - specifically their perception of danger - in the collaborative process. To this end, we developed a web-based application that collects and stores emotion-related brain waves via a wearable device; a deep-learning model that extracts and classifies the characteristics of neutral, positive, and negative emotions; and an Internet-of-things (IoT) interface program that controls motor operation according to classified emotions. We conducted a comparative analysis of our system's performance using a public open dataset and a dataset collected through actual measurement, achieving validation accuracies of 96.8% and 70.7%, respectively.

• Composites Research
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• v.18 no.6
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• pp.26-33
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• 2005

The mechanical properties of composite materials may severely degrade in the presence of damage. Especially, the high-velocity impact such as bird strike, a hailstorm, and a small piece of tire or stone during high taxing, can cause considerable damage to the structures and sub-system in spite of a very small mass. However, it is not easy to detect the damage in composite plates using a single technique or any conventional methods. In this paper, the PVDF(polyvinylidene fluoride) film sensors were used for monitoring high-velocity impact damage initiation and propagation in composite laminates. The WT(wavelet transform) and STFT(short time Fourier transform) are used to decompose the sensor signals. A ultrasonic C-scan and a digital microscope are also used to examine the extent of the damage in each case. This research shows how various sensing techniques, PVDF sensor in particular, can be used to characterize high-velocity impact damage in advanced composite.

• Spatial Information Research
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• v.22 no.1
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• pp.75-84
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• 2014

Power lines are one of the main obstacles causing an aircraft crash and thus their realtime detection is significantly important during flight. To avoid such flight obstacles, the use of LIDAR has been recently increasing thanks to its advantages that it is less sensitive to weather conditions and can operate in day and night. In this study, we suggest a fast method to detect power lines from LIDAR data for flight obstacle avoidance. The proposed method first extracts non-ground points by eliminating the points reflected from ground surfaces using a filtering process. Second, we calculate the eigenvalues for the covariance matrix from the coordinates of the generated non-ground points and obtain the ratio of eigenvalues. Based on the ratio of eigenvalues, we can classify the points on a linear structure. Finally, among them, we select the points forming horizontally long straight as power-line points. To verify the algorithm, we used both real and simulated data as the input data. From the experimental results, it is shown that the average detection rate and time are 80% and 0.2 second, respectively. If we would improve the method based on the experiment results from the various flight scenario, it will be effectively utilized for a flight obstacle avoidance system.