• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.629-634
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• 1995

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is formed by a set of robot joint angles derived fromm robot inverse kinematics. The joint space that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled form the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.81-89
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• 2002

Guidance laws can be conceptually classified into three categories although their mathematical representations are various and different. In this paper, a generalized conceptual guidance law including the concepts of the above categories is proposed. The aim angle is introduced using the geometry of the collision triangle. The aim angle represents the arbitrary angle between the pursuit angle and the expected collision angle. The objective of the proposed guidance law is to make the aim angle zero asymptotically. It can be shown that the aim angle error response for the considered system is same as that of the first order system. When the autopilot of the missile system has slow dynamics, autopilot time lag may deteriorate the performance of the guidance law performance. In this case, another new guidance law compensating the autopilot time lag effect is proposed. To verify the proposed guidance laws, several numerical simulations are performed.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.181-184
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• 1999

Leading vehicle states are useful and essential elements in adaptive cruise control (ACC) system, collision warning (CW) and collision avoidance (CA) system, and automated highway system (AHS). There are many approaches in ACC using Kalman filter. Mostly only distance to leading vehicle and velocity difference are estimated and used for the above systems. Applications in road vehicle in curved road need to obtain more informations such as yaw angle, steering angle which can be estimated using vision system. Since vision system is not robust to environment change, we used Kalman filter to estimate distance, velocity, yaw angle, and steering angle. Application to active tracking of target vehicle is shown.

• Journal of ILASS-Korea
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• v.13 no.4
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• pp.187-192
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• 2008

In this study, the mechanisms of binary droplet collision were studied with diesel, ethanol and purified water. The droplet collisions of liquid droplet have been investigated for the same droplet diameter. In order to obtain the digital images of the droplet collision behavior, the experimental equipment was composed of the droplet generating system and the droplet visualization system. The droplets were produced by the vibrating orifice monodisperse generator. The visualization system consisted of a long distance microscope, a light source, and a high speed camera. The outcomes of binary droplet collision can be divided into four regimes, bouncing, coalescence, reflexive separation and stretching separation. The impact angle and the relative velocity of binary droplet are main parameters of collision phenomena, so the transition mechanism of droplet collision can be divided by the impact parameter.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.11a
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• pp.264-264
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• 2019

The purpose of this paper is to establish development concepts for a novel collision avoidance system with preventing function of navigator's human error (Hu-CAS) in ship control behaviors. Hu-CAS consists of four modules: 1) collision risk assessment module to estimate collision priority between the ship and objects, 2) decision-making module to decide collision risk levels, 3) parameter estimation module needed in the ship control to avoid collisions and 4) control system to control the rudder angle and speed. Hu-CAS, proposed in this paper, can provide a novel system substitution current Autopilot and/or a CAS be teen manned vessel and Autonomous ship in a future.

• Journal of the Korean Society of Marine Environment & Safety
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• v.5 no.2
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• pp.99-111
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• 1999

The object of this study is to get the superior double hull structure to its crashworthiness against collision comparing absorbed energy capacities of its various types with each other, varying material properties, collision positions and velocities, and structural arrangements such as double hull width, web and stringer spaces, etc. Local absorbed energy capacities, failure behaviors and damage extents of their members are also considered during collision in addition to the estimations of their global ones. This paper describes a series of numerical simulations of collisions between DWT 45,000 oil tanker(struck ship) and DWT 10,500 rigid one(striking ships) using Hydrocode LS/DYNA3D. Collisions are assumed to occur at the middle of struck ship with striking one moving at right angle to its centerline. The following remarks were obtained through this study: More flexible the double hull structure is, much superior its crashworthiness against collision is. The increment of double hull width does not give much influence than other factors do. The exact use of material property such as failure strain is also important on the numerical simulation of collision.

• International journal of advanced smart convergence
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• v.8 no.4
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• pp.161-168
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• 2019

Traffic accidents in tunnel can lead to large traffic accidents due to narrow and dark road characteristics. Therefore, special care of the driver is required when is driving in a tunnel. However, accidents can happen at any time. In the event of an accident, a narrow road structure may lead to a second accident. Therefore, all facilities installed inside the tunnel should be allowed to minimize damage in the event of an accident. We confirmed the safety of the collision target through the action of the sedan, Sport Utility Vehicle (SUV) and truck when the vehicle crashed into a stairway installed on the tunnel emergency escape route, and when a concrete barrier or guard rail was installed in front of the stairway. The behavior of the vehicle has resulted in a total of three results: rollover or rollover, change of speed and angle of the vehicle after collision. The sedan and SUV were the most secure when colliding with the guardrail, but considering the truck as a whole, concrete barriers were judged to be the most suitable for minimizing damage from the first accident and reducing the risk of the second accident.

• Journal of Navigation and Port Research
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• v.38 no.1
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• pp.53-57
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• 2014

This thesis, concentrates on marine collision risks of the area divided by cells. Using a gas molecular collision calculation model, a collision risk model is proposed. Collision risk is estimated by relative angle, relative speed, and ship's density in the cell. For one week, Automatic Identification System (AIS) data was collected and analyzed on the Busan North Port area. The results indicate a high-risk area at the sea route connection point in Busan North Port. It also shows that twilight is the time of day when most collisions occur. This means that the area is high risk due to the number of collisions and other dangerous factors related to twilight. Although there is still need to consider other risks such as grounding risks, the results of this study are useful to for plotting a risk map for the port.

• Journal of the Society of Naval Architects of Korea
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• v.44 no.2 s.152
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• pp.166-173
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• 2007

Collision analysis problems between ship to ship can be generally classified into the external mechanics(outer dynamics) and internal mechanics(inner dynamics). The former can be also dealt with the concept of fluid-structure interaction and the use of rigid body dynamic program, depending on the ways handling the hydrodynamic pressure due to surrounding water. In this study, full scale ship collision simulation was carried out, such as a DWT 75,000 ton striking ship collided at right angle to the middle of a DWT 150,000 struck ship with 10 knots velocity, coupling MCOL, a rigid body mechanics program for modeling the dynamics of ships, to hydrocode LS-DYNA. It could be confirmed that more suitable damage estimation would be performed in the case of the collision simulations with consideration of surrounding water through the comparison with the collision simulation results of fixed struck ships without it. Through this study, the opportunity could be obtained to establish a more effective ship collision simulation technique between ship to ship.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.22 no.4
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• pp.224-229
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• 2010

Collision fragility analysis of offshore bridge by ship was performed. Collision velocity and angle were chosen as random variables then collision of 18,000DWT and 30,000DWT ships with bridge was analyzed. Displacement response surface of bridge by ship collision was estimated by varying ship velocity from 2 m/s to 7 m/s. Using the result of reliability analysis, fragility curves of collision was established and risk of offshore bridge to collision velocity as median and log-standard deviation was presented.