• Journal of Navigation and Port Research
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• v.27 no.4
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• pp.375-381
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• 2003

The studies on automatic ship collision avoidance system, which have been carried out last 10 years, are facing on new situation due to newly developed high technology such as computer and other information system. It was almost impossible to make it used in real navigation 3-4 years ago because of the absence of the tool to get other ship's information, however recently developed technology suggests new possibility. This study is carried out to develop the algorithm of automatic ship collision support system. The NOMOTO ship's mathematic model is adopted in simulation for its simplicity. The fuzzy reason rules are used for course-keeping system and for the calculation of Collision Risk using TCPA/DCPA. Moreover ‘encounter type’ between two ships is analyzed based on Regulations for Preventing Collisions at Sea and collision avoidance action is suggested. Some situations are simulated to verity the developed algorithm and appropriate avoidance action is shown in the simulation.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.323-328
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• 2011

In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the 3-D obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.635-640
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• 2009

In real system application, the obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: it has local information because the sonar can only offer the obstacle information in a local detection area, it requires a continuous control input because the system that has reduced acoustic noise and power consumption is necessary, and further, it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.6
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• pp.470-476
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• 2001

This paper presents a new algorithm of path planning and obstacle avoidance for autonomous mobile robots with vision system that is working in unknown environments. Distance variation technique is used in path planning to approach the target and avoid obstacles in work space as well . In this approach, the Sobel operator is employed to detect edges of obstacles and the distances between the mobile robot and the obstacles are measured. Fuzzy rules are used for trajectory planning and obstacle avoidance to improve the autonomy of mobile robots. It is shown by computer simulation that the proposed algorithm is superior to the vector field approach which sometimes traps the mobile robot into some local obstacles. An autonomous mobile robot with single vision is developed for experiments. We also show that the developed mobile robot with the proposed algorithm is navigating very well in complex unknown environments.

• Journal of IKEEE
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• v.2 no.1 s.2
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• pp.139-149
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• 1998

There are some problems in robot navigations with a single kind of sensor. We propose a system that takes advantages of both CCD camera and ultrasonic sensors for the concerning matter. A coordinate extraction algorithm to avoid obstacles during the navigation is also proposed. We implemented a CCD based vision system at the front part of the vehicle and did experiments to verify the suggested algorithm's availability. From experimental results, the error rate was reduced when a CCD camera was used rather than when only ultrasonic sensors were used. Also we can generate path to avoid those obstacles using the measured values.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.3B
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• pp.248-253
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• 2011

Collision avoidance algorithm of vessels have been studied to avoid collision and grounding of a vessel due to human error. In this paper, We propose a collision avoidance algorithm using bayesian estimation theory for safety sailing and reduced risk of collision accident. We calculate collision risk for efficient collision avoidance using bayesian algorithm and determined the safest and most effective collision risk is predicted by using re-planned with re-evaluated collision risk in the future(t=t'). Others ship position is assumed to be informed from AIS. Experimental results show that we estimate the safest and most effective collision risk.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.7
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• pp.1023-1030
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• 2021

Korea Maritime Safety Tribunal (KMST) statistics released in of 2019 indicated that most collision accidents involving small-size vessels with less than 20 gross-tonnage occur mainly due to operational carelessness, such as forward-looking negligence and unskilled vessel control. As an effective remedy, training and education for vessel operators are being strengthened to prevent accidents. However, collision accidents are increasing, and technical measures are continuously developed to reduce accidents caused by human factors. In this study, an avoidance algorithm and prototype of terminal-controller against collision between two nearby vessels was developed for implementation on relative navigation control by adopting WAVE telecommunication technology. Moreover, several sea trial tests were performed to verify the collision avoidance algorithm and control system using two fishing vessels for dif erent scenarios.

• The KIPS Transactions:PartB
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• v.11B no.3
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• pp.327-336
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• 2004

For visual inspection system in real industrial environment, it is one of most important tasks to design fast and stable pattern matching algorithm. This paper presents an edge-based point correlation algorithm avoiding full search in visual inspection system. Conventional algorithms based on NGC(normalized gray-level correlation) have to overcome some difficulties for applying to automated inspection system in factory environment. First of all, NGC algorithms need high time complexity and thus high performance hardware to satisfy real-time process. In addition, lighting condition in realistic factory environments if not stable and therefore intensity variation from uncontrolled lights gives many roubles for applying directly NGC as pattern matching algorithm in this paper, we propose an algorithm to solve these problems from using thinned and binarized edge data and skipping full point search with edge-map analysis. A point correlation algorithm with the thinned edges is introduced with image pyramid technique to reduce the time complexity. Matching edges instead of using original gray-level pixel data overcomes NGC problems and pyramid of edges also provides fast and stable processing. All proposed methods are preyed from experiments using real images.

• Proceedings of the Korean Society of Computer Information Conference
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• 2011.01a
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• pp.289-292
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• 2011

본 논문에서는 유전 알고리즘을 이용한 강의시간표 작성 시스템 설계 방법을 제안한다. 강의시간표는 교과목의 강의시간, 강의실, 교수자 등의 정보를 시간표 테이블에 할당하는 문제이면서 스케줄링 문제이다. 강의시간표로써의 의미를 가지기 위해서는 강의실 중복 회피, 교수의 강의시간 중복회피와 같은 필수 제약조건(Hard Constraint)을 만족해야 한다. 또한, 강의시간표 문제는 NP-Complete 문제로 알려져 있으며 기존의 Exact 알고리즘으로는 최적 해를 구하는 것이 힘들다. 따라서 본 논문에서는 휴리스틱 알고리즘 중의 하나인 유전 알고리즘을 교과목의 강의시간 배정 부분과 강의실 배정 부분을 각각 별도의 부시스템 (Sub-system)으로 나누어 적용하는 방법을 제안한다. 실험 결과 강의시간표로써의 의미를 가질 수 있는 필수 제약 조건을 만족시킬 수 있음을 알 수 있었다.

• Journal of Advanced Navigation Technology
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• v.10 no.2
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• pp.120-127
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• 2006

Data-caching of a client is an important technology for interaction with a server where data are cached and operated at the client node. Caching reduces network latency and increases resource utilization at the client. In a Client-server environment, the absence of cache consistency algorithm, we cannot guarantee the correctness of client applications. In this paper, we propose a new asynchronous avoidance-based cache consistency algorithm. We remove the additional callback due to the lock escalation in AACC. With a comprehensive performance analysis, we show that the proposed algorithm has less message exchange than the AACC. One-copy serializability is used for proving correctness of the proposed algorithm.