• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.210-216
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• 2016

This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles.

• 제어로봇시스템학회논문지
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• 제21권9호
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• pp.888-897
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• 2015

A flight capability to take a terrain following flight near the ground is required to reduce the probability that a fighter aircraft can be detected by foe's radar fence in the battlefield. The success rate for mission flight has increased by adopting TFS (Terrain Following System) to enable the modern advanced fighter to fly safely near the ground at the low altitude. This system has applied to the state-of-the-art fighter and bomber, such as B-1, F-111, F-16 E/F and F-15, since the research begins from 1960's. In this paper, the terrain following system and GCAS (Ground Collision Avoidance System) was developed, based on a digital database with UTAS's TERPRROM (TERrain PROfile Matching) equipment. This system calculates the relative location of the aircraft in the terrain database by using the aircraft status information provided by the radar altimeter and the INS (Inertial Navigation System), based on the digital terrain database loaded previously in the DTC (Data Transfer Cartridge), and figures out terrain features around. And, the system is a manual terrain following system which makes a steering command cue refer to flight path marker, on the HUD (Head Up Display), for vertical acceleration essential for terrain following flight and enables a pilot to follow it. The cue is based on the recognized terrain features and TCH (Target Clearance Height) set by a pilot in advance. The developed terrain following system was verified in the real-time pilot evaluation in FA-50 HQS (Handling Quality Simulator) environment.

• Journal of Advanced Marine Engineering and Technology
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• 제36권4호
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• pp.490-496
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• 2012

본 연구의 목적은 바지선에 의해 발생하는 해상풍력발전기의 충격손상을 최소화 시키기 위한 것이다. 충격해석은 상용유한요소해석 프로그램인 ANSYS LS-Dyna를 통하여 분석하였다. 바지선속을 변화시켜 다양한 상태의 하중케이스를 고려하였고 충격방지고무의 비선형성을 고려한 시간이력해석을 수행하였으며 변형률 에너지, 전체 변형량, 플라스틱 변형률, 내부충격에너지, 영구손상된 변형량 등을 검토하였다. 충격속도에 변화에 따른 영구변형을 확인한 후 자연고무, 복합고무, 네오프렌 등의 고무시험 물성치로부터 구한 Mooney-Rivlin 상수를 적용하여 적절한 충격방지고무의 두께를 제안하였다. 본 연구를 통하여 구조물의 두께와 충격방지고무의 두께비에 대한 경향을 파악할 수 있으며 구조물의 설계에 적용할 수 있다.

• 한국자동차공학회논문집
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• 제13권2호
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• pp.149-156
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• 2005

In this paper, the VR(Virtual Reality) simulation system is developed to analyze driver's perceptive response on the ASV(Advanced Safety Vehicle). The ASV is the vehicle of next generation equipped with various warning systems. For the purpose, the VR simulation system consists of VR database, vehicle dynamic model, graphic/sound system, and driving system. The VR database which generates 3D graphic and sound information is organized for the driving reality. Mathematical models of vehicle dynamic analysis are constructed to represent the dynamic behavior of a vehicle. The driving system and the graphic/sound system provide a driver with the operation of a vehicle and the feedback of a driving situation. Also, the real-time simulation algorithm synchronizes the vehicle dynamic model with the VR database. To check the validity of the developed system, a simple scenario is applied to investigate driver's perceptive response time and vehicle acceleration on an emergency situation. It is confirmed that the proposed system is useful and helpful to design the FVCWS(Forward Vehicle Collision Warning System).

• 자동차안전학회지
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• 제8권3호
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• pp.10-15
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• 2016

The purpose of this study is to evaluate the injury mechanism of facial injury related to an air-bag's deployment in occupant motor vehicle accident (MVA) by using Hospital Information System (HIS) and reconstruction program, based on the materials related to motor vehicle accidents. Among patients who visited the emergency department of Wonju Severance Christian Hospital due to motor vehicle accidents from August 2012 to February 2014, we collected data on patients with agreement for taking the damaged vehicle's photos. After obtaining the verbal consent from the patient, we asked about the cause of the accident, information on vehicle involved in the accident, and the location of car repair shop. The photos of the damaged vehicle were taken on the basis of front, rear, left side and right side. Damage to the vehicle was presented using the CDC code by analytical study of photo-images of the damaged vehicle, and a trauma score was used for medical examination of the severity of the patient's injury. Among the 309 patients with agreement for an investigation, thirty five (11.3 %) were the severe who had ISS over 15. And also, sixteen (5.2%) derived from the reconstructed data (maximum collision energy, maximum acceleration, delta V) by PC-Crash. As a result, ISS including the facial injuries was affected by the condition. It was high when the number of crash extent, the safety belt was not fastened, and the seating position of occupant and the direction of collision is same. For accurate analysis of the relationship between occupant injury and vehicle damage in MVAs, build-up of an in-depth database through carrying out various policies for motor vehicle accidents is necessary for sure.

• Journal of Advanced Marine Engineering and Technology
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• 제39권4호
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• pp.489-494
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• 2015

본 연구의 목적은 선박의 충돌에 의해 발생하는 원형단면을 갖는 실린더형 해양구조물의 충격손상을 최소화 시키기 위한 것이다. 기존의 설계기준, 코드 및 선급규정 등에 명시된 충격해석은 해수유체영역이 고려되지 않은 상태로 계산을 수행해 왔다. 본 연구에서는 해수유체영역을 고려한 모델링방법과 동적응답, 변형률, 내부에너지 등의 응답파라미터를 고찰하여 기존에 고려하지 않은 결과와 비교분석하였다. 충돌선박의 선속을 변화시켜 다양한 상태의 하중케이스를 고려하였고 가장 큰 충격하중상태인 2.0m/s에서의 선속에서의 응답결과를 비교분석하였다. ALE방법을 이용하여 해수유체영역을 고려한 경우 해수영역에서의 충격에너지 흡수와 유체감쇠를 통해 응답크기가 더 작고 구조물의 응력과 소성영역의 분포가 고르게 나타났다. 해수유체영역을 고려하지 않은 경우 보다 보수적인 설계가 될 수 있음을 알 수 있었다.

• 한국자동차공학회논문집
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• 제12권2호
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• pp.205-214
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• 2004

This paper presents design concepts, specifications and performances of a newly developed Black Box, the reconstruction analysis tool with the records, and results of validation tests. The Black Box can detect crash accidents automatically, and record the vehicle's motion and driver's maneuvers during a pre-defined time period before and after the accident. The items of the Black Box included the acceleration, yaw-rate, vehicle speed, engine RPM, braking application, steering and several digital inputs for recording driver's maneuvers. To detect the accident-related-crash, it is important to understand characteristics of the crash signal, which are much different from those of normal driving. Therefore, analytical considerations should be taken in designing pre-filtering circuits and selecting appropriate parameters for identifying crash accidents. And, it is necessary to select proper combination of motion sensors and design proper pre-filtering circuits in order to describe the vehicle's motion. The analysis algorithms were developed and implemented which can perform accurate detection of crash accidents, simulating pre-crash trajectories, and calculating parameters for reconstruction analysis of crash accidents. The developed Black Box was installed on passenger cars and several types of validation tests were conducted. Through the tests, the accuracy of the recorded data and usefulness of the analysis tool for reconstruction have been validated.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.155-163
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• 2000

This paper presents a path planning method of the sensor based intelligent vehicle using fuzzy logic controller for avoidance of moving obstacles in unknown environments. Generally it is too difficult and complicated to control intelligent vehicle properly by recognizing unknown terrain with sensors because the great amount of imprecise and ambiguous information has to be considered. In this respect a fuzzy logic can manage such the enormous information in a quite efficient manner. Furthermore it is necessary to use the relative velocity to consider the mobility of obstacles, In order to avoid moving obstacles we must deliberate not only vehicle's relative speed toward obstacles but also self-determined acceleration and steering for the satisfaction of avoidance efficiency. In this study all the primary factors mentioned before are used as the input elements of fuzzy controllers and output signals to control velocity and steering angle of the vehicle. The main purpose of this study is to develop fuzzy controllers for avoiding collision with moving obstacles when they approach the vehicle travelling with straight line and for returning to original trajectory. The ability are and effectiveness of the proposed algorithm are demonstrated by simulations and experiments.

• 한국해양공학회지
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• 제24권4호
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• pp.13-22
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• 2010

While a caisson used for breakwater is carried by a floating dock, accompanying stability problem by its existing motions in the dock is quite important and should be pre-checked against sea environmental condition. In the stability analysis, the acceleration, velocity, angle of roll and pitch motions are important to calculate frictional force and separation force. If separation force becomes bigger than frictional force, serious collision may be occurred between caisson and floating dock. In this study, stability evaluation during the transportation of a caisson on floating dock for breakwater was performed by using a commercial program, HydroD and CHARM3D/HARP.

• EDISON SW 활용 경진대회 논문집
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• 제6회(2017년)
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• pp.194-203
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• 2017

The center of percussion(COP) is the point of an extended massive object attached to a pivot where a perpendicular impact will produce no reactive shock at the pivot. COP is an important concept in the field of vibration and dynamics. In vibration, COP causes reduction of vibration and in dynamics, it brings about maximum speed of an object. Many studies about COP are still in progress. However most of the researches have typically focused on the method of mathematical and numerical anlalysis. In this paper, impact analysis was proved by the mechanical energy method using EDISON co-rotational plane beam transient analysis program. The result expressed in acceleration was the relative magnitude of the impulse, which was the indicator of COP. Then, these results were compared with the reference thesis results for exact consequences. Additionally, parametric study of COP was conducted.