• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.519-522
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• 1997

In this study, the collision free path planning method of the articulated manipulator using sequential search is proposed. This method is to find the joint path of the manipulator with many degrees of freedom from the distal joint to the proximal one. To do this, the initial work space of the gantry manipulator, which is a remote maintenance equipment of the radioactive environment, is defined from the condition that the distal joint configuration is determined by the posture of maintenance. Then, 2-dimensional configuration space with the obstacle area is represented and the collision free path of manipulator is searched in the configuration space. And, this method is verified using the graphic simulation in virtual workcell for the spent fuel disassembling processes. The result of this study can be effectively used in implementing the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.232-237
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• 1998

This paper describes a new method for estimating time-to-collision which exhibits high tolerance to noise contained in camera images. Time to collision (TTC) is one of the most important parameters available from a camera attached to a mobile machine. TTC indirectly stands far the translation speed of the camera and is usually calculated either from successive images or optical flow by using intimate relationship between TTC and flow divergence. In most cases, however, it is not easy to get accurate optical flow, which makes it difficult to calculate TTC. In this study it is proved that if the target has a smooth surface, the average of divergence over any point-symmetric region on the image is equal to the divergence of the center of the region. It means that required divergence can be calculated by integrating optical flow vectors over a symmetric region. It is expected that in the process of the integration, accidental noise is canceled if they are independent of optical flow and the motion of the camera. Experimental results show that TTC can be estimated regardless of the surface condition. It is also shown that influence of noise is eliminated as the area of integration increases.

• Journal of Ocean Engineering and Technology
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• v.21 no.4
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• pp.34-37
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• 2007

The safety of ships is one of the most important concerns in terms of the environment and human life. A ship in bad condition is likely to be subject to accidents, such as collision and grounding. When a ship has minor collision damages in the form of circle or ellipse, its ultimate strength will be reduced. It is important to evaluate the reduction ratio of a ship's ultimate strength that results from damages. The strength reduction of a plate with a cutout in the form of hole has been treated by many researchers. A closed-form formula for the reduction of ultimate strength of a plate, considering the effect of several forms of cutout, has been suggested. However, the structure of ships is composed of plates and stiffeners so-called stiffened plates and it is likely that plates and stiffeners will be damaged together in collisions. This paper investigates the effect of minor collision damages on the ultimate strength of a stiffened plate by using numerical analysis. For this study, the deformed shape of minor collision damages on a stiffened plate was made by using a contact algorithm and was used as the initial shape for ultimate stress analysis. Then, a series of nonlinear FE analyses was conducted to investigate the reduction effects on the ultimate strength of the stiffened plate. The boundary conditions were simply supported at all boundaries, and the tripping of stiffener was neglected. The results are presented in the form of reduction ratio between the ultimate strength of an original, intact stiffened plate and that of a damaged stiffened plate.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.6 s.261
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• pp.671-678
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• 2007

Front-side members of automobile, such as the hat shaped section members, are structures with the greatest energy absorbing capability in a front-end collision of vehicle. This paper was performed to analyze energy absorption characteristics of the hat shaped section members, which are basic shape of side member. The hat shaped section members consisted of the spot welded side member which was utilized to an actual vehicle and CFRP side member for lightweight of vehicle structural member. The members were tested under static axial loading by universal testing machine. Currently, stacking condition related to the collapse characteristics of composite materials is being considered as an issue fer the structural efficiency and safety of automobiles, aerospace vehicles, trains, ships even elevators during collision. So, energy absorption characteristics were analyzed according to stacking condition and shape of section and compared the results of spot welded side member with those of CFRP side member.

• Journal of the Korean Society for Marine Environment & Energy
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• v.9 no.4
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• pp.253-262
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• 2006

In this paper, collision analysis is carried out between two FRP fishing boats. A computer simulation with finite element method is used to accomplish this objective. At first, a detailed geometric model of the boat is constructed using 3-D CAD program. The formation of a finite element from a geometric data of the boats is carried out using HYPERMESH that is the commercial software for mesh generation and post processing. Twelve collision configurations are established by combining two kinds of contact angle($90^{\circ},\;135^{\circ}$) and three different speed(5, 10, 15knot) for small and large boats. Collision analysis is accomplished using DYNA3D. Stress distribution and deformation shape are investigated for each collision condition. In general, $90^{\circ}$ collision angle generate larger stress than $135^{\circ}$ case and the collision for two moving boats showed larger maximum stress than the case that one is moving and the other is stationary. When analysis is carried out until 150ms contact parts of two boats are broken for 10 and 15knot collision speed, in which maximum stress is larger than ultimate strength of the material.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.6
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• pp.593-599
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• 2016

Incheon Bridge is 13.38 km long with an 800 m span, connecting Incheon International Airport and Songdo International City, Per hour 73.8 vessels navigate this space. The purpose of this study was to suggest a safe passing speed based on the displacement of a vessel based on the safety criteria of Incheon Bridge's anti-collision fence, which was designed during its initial construction. As AASHTO LRFD suggested, vessel collision energy, vessel collision velocity, and the hydrodynamic mass coefficient were considered to derive a safe vessel traffic speed. Incheon Bridge's anti-collision fence was designed so that 100,000 DWT vessels can navigate at a speed of 10 knot. This research suggests a safe speed for vessel traffic through a comparative analysis of an experimental ship's (300,000 DWT) speed and cargo conditions, regulation speed has been calculated according to the collision energy under each set of conditions. Additionally, safe traffic vessel's safe speed was analyzed with reference to tidal levels. Results from the experimental ship showed that a vessel of maximum 150,000 DWT is able to pass Incheon Bridge at a maximum of 7 knots with an above average water level, and is able to pass the bridge with a maximum of 8 knots under ballast conditions.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.1231-1234
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• 2005

For the purpose of objective and scientific inspection, traffic accidents should be appraised and inspected by righteous material evidences, computer simulation, and studies such as automobile engineering, traveling and collision accident dynamics, road and traffic engineering. In this paper, it displays the results of studying cases with the reasons of traffic accidents by analyzing and studying automobile kinetics, real traffic accidents and the results of in scientific and objective ways. In this paper, it is proved that with compared by dry and wet road surface condition, the transient brake time of wet condition is longer than dry road condition. Moreover, compared with unpacked road condition and packed road condition. unpacked road condition is shorter than packed road condition using computer simulation.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.4
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• pp.601-609
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• 2022

Jack-up drilling rigs are mobile offshore platforms widely used in the offshore oil and gas exploration industry. These are independent, three-legged, self-elevating units with a cantilevered drilling facility for drilling and production. A typical jack-up rig includes a triangular hull, a tower derrick, a cantilever, a jackcase, living quarters and legs which comprise three-chord, open-truss, X-braced structure with a spudcan. Generally, jack-up rigs can only operate in water depths ranging from 130m to 170m. Recently, there has been an increasing demand for jack-up rigs for operating at deeper water levels and harsher environmental conditions such as waves, currents and wind loads. All static and dynamic loads are supported through legs in the jack-up mode. The most important issue by society is to secure the safety of the leg structure against collision that causes large instantaneous impact energy. In this study, nonlinear FE -analysis and verification of the requirement against collision for 35MJ recommended by DNV was performed using LS-Dyna software. The colliding ship used a 7,500ton of shore supply vessel, and five scenarios of collisions were selected. From the results, all conditions do not satisfy the class requirement of 35MJ. The loading conditions associated with chord collision are reasonable collision energy of 15M and brace collisions are 6MJ. Therefore, it can be confirmed that the identical collision criteria by DNV need to be modified based on collision scenarios and colliding members.

• Journal of Korean Society for Atmospheric Environment
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• v.14 no.5
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• pp.433-442
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• 1998

The removal procedure of particles in the atmosphere was simulated in the saturated and dry conditions to know the effect of the saturated atmosphere on the size distributions of particles. The particles were divided into 5 ranges, 0.0mm, 0.0∼0.65mm, 0.65∼2mm, 2∼10mm and more than 10mm, and the gases were classified into the smallest range for calculation. At the dry condition, particles grew only by the collision -coalescence and were removed by gravitation. The particles in the range of 2.0∼10mm fell mostly at the 30 km distance from the pollutant source because of gravitation. The particles larger than 10 pm were removed at the 10 km distance from the pollutant source because of their gravity. But the particles larger than 10pm appeared again at more than 30km distance. It is considered that they have been grown during the smaller particles had been advected and diffused at that distance, and it needed about 1 hour from the moment of release. At the saturated condition, particles grew by both the collision-coalescence and condensation. The model showed that the condensation makes more number of particles larger than 10mm and then the particles were removed due to their large gravity. Only a few particles existed at the range of 0.65∼10mm and larger thats 10mm. It is concluded that the saturated atmosphere is effective on removing PM-10.

• Journal of Auto-vehicle Safety Association
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• v.12 no.4
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• pp.39-47
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• 2020

In this study, crash situations of representative bus crash types were elicited by analyzing a total of 1,416 bus repair record which were collected in 2018~2019. K-means clustering was used as a methodology for this study. Bus repair record contain the information of repair term, type of bus operation, responsibility of accident, weather condition, road surface condition, type of accident, other party, type of road and type of location for each data. Also, by checking collision parts of each bus repair record, each record was classified by types of collision regions. From this, 760 record are classified to frontal type, 363 record are classified to middle-frontal type, 374 record are classified to middle-rear type and 331 record are classified to rear type. As mentioned, k-means clustering was performed on each type of collision parts. As a result, this study analyzed the severity of bus crash based on actual bus accident data which are based on bus repair record not the crash data from the TAAS. Also, this study presented crash situation of representative bus crash types. It is expected that this study can be expanded to analyzing hydrogen bus crash and defining indicators of hydrogen bus safety.