• ETRI Journal
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• v.37 no.5
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• pp.1032-1043
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• 2015

ETRI's Co-Pilot project is aimed at the development of an automated vehicle that cooperates with a driver and interacts with other vehicles on the road while obeying traffic rules without collisions. This paper presents a core block within the Co-Pilot system; the block is named "Co-Pilot agent" and consists of several main modules, such as road map generation, decision-making, and trajectory generation. The road map generation builds road map data to provide enhanced and detailed map data. The decision-making, designed to serve situation assessment and behavior planning, evaluates a collision risk of traffic situations and determines maneuvers to follow a global path as well as to avoid collisions. The trajectory generation generates a trajectory to achieve the given maneuver by the decision-making module. The system is implemented in an open-source robot operating system to provide a reusable, hardware-independent software platform; it is then tested on a closed road with other vehicles in several scenarios similar to real road environments to verify that it works properly for cooperative driving with a driver and automated driving.

• Journal of Fisheries and Marine Sciences Education
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• v.26 no.3
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• pp.647-655
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• 2014

In this research, unlike other fishing, the diving apparatus fishery is that the diver is engaged in fishing for profits. Because it is unique fishery, conflicts can be occurred in members. So, the purpose of this research is to define the contractual relationship between the parties of the diving apparatus fishery. For example, the relationship between the owner and diver and the owner and fishing ship crew. In addition, civil liability of default on the obligation was reviewed. Also, because the trouble was occurred by illegal fishing, criminal liability of ship crash caused by illegal diving apparatus fishery was considered. As a result, It is important to notifying the necessity of some method for the status of diver and fishing ship crew in diving apparatus fishery. moreover, It is need to educate the risk of illegal fishery for the parties of diving apparatus fishery.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.599-604
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• 2005

As a public transportation possible to convey a large quantity, the railway is safe and keeps time, but it has hazards to cause a disaster if the accidents such as collision, derailment, and fire occur. So advanced countries carry out System Safety Plan with various program activities which have connected orders to maintain or improve safety level by finding hazards, evaluation, taking measures and practice, and improving problems. Especially they systematically manage hazards to cause railway accidents and the factors which possibly threat safety, using national classification of risk and causes with analysis of the related data such as establishing accident/incident data and safety regulations/standards. As executing railway safety regulations, domestic railway is currently trying to improve railway safety management system. The research of classification system of accidents/incidents is one thing to make railway safety management systems better. In this research, we reviewed hazardous factors of railway systems and classification of the causes as the beginning of system safety management, and we conducted study on development of railway accident classification based on findings of this research. The results are able to be used in identifying hazards and activities of systemic safety management at the step of railway accident report and investigation.

• Research in Community and Public Health Nursing
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• v.18 no.4
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• pp.643-650
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• 2007

Purpose: This study was to obtain information regarding to agricultural accidents in farm workers in the Kyungpook area. Methods: A questionnaire survey was carried out for 528 workers from the 1st to 31st of March, 2007. Frequency, percentage, mean and chi-square test with the SPSS program were used to analyze the data. Results: The causes of agricultural accidents include falling(29.0%), overseeing(18.9%), traffic accident(17.4%), putting between machinery(11.7%), crashing(5.3%), fire (0.6%) in the order of frequency. Injuries from agricultural accidents include fracture(44.7%) cerebral bleeding (10.4%), amputation(7.0%), airway obstruction (2.3%) burn(1.9%), drug addiction(1.9%) in the order of frequency. The largest proportion of the subjects of hospital treatment were in their 50s and belonged to the group of high-level economic state. Agricultural machinery collision was the most frequent cause among the subjects of hospital treatment. Conclusion: These results suggest that carelessness can be a potential risk factor for agricultural accidents in farm workers. These findings may give useful information for developing agricultural accident prevention programs for farm workers.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.11
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• pp.1104-1111
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• 2009

In the low altitude, mission of the aircraft is restricted by a variety of threats such as anti-air missiles and terrain obstacles. Especially, aircraft have always a risk of ground collision near terrain. In this study, to effectively solve this problem, we developed the flight path generation algorithm that is considered the terrain avoidance. In this flight path generation algorithm, waypoints that should be passed by the UAV are selected first. The waypoints are located in the middle of the terrain obstacles. Then, physically meaningful waypoints sets are classified by Dijkstra algorithm. The optimal waypoint guidance law based on the optimal control theory is applied to produce trajectory candidates. And finally the minimum control energy trajectory is determined.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.10
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• pp.1479-1485
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• 2015

Robot's technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot's path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.329-334
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• 2011

This paper presents the method for location estimation with obstacle tracking method. A laser scanner is used to implement the system, and we assume that the map information is known. We matches the measurement of the laser scanner to estimate the location of the robot by using sequential monte carlo (SMC) method. After estimating the robot's location, the pose of obstacles are detected and tracked, hence, we can predict the collision risk of them. Finally, we present the experiment results to verify the proposed method.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.5
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• pp.547-553
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• 2021

Dynamic object recognition is an important task for autonomous vehicles. Since dynamic objects exhibit a higher collision risk than static objects, our own trajectories should be planned to match the future state of moving elements in the scene. Time information such as optical flow can be used to recognize movement. Existing optical flow calculations are based only on camera sensors and are prone to misunderstanding in low light conditions. In this regard, to improve recognition performance in low-light environments, we applied a normalization filter and a correction function for Gamma Value to the input images. The low light quality improvement algorithm can be applied to confirm the more accurate detection of Object's Bounding Box for the vehicle. It was confirmed that there is an important in object recognition through image prepocessing and deep learning using YOLO.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.6
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• pp.379-388
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• 2018

In this study, we propose a new approach to impliment autonomous travelling of mobile robot based on obstacle avoidance and voice command. Obstacle Avoidance technology of mobile robpot. It has been used in wide range of different robotics areas to minimize the risk of collisions. Obstacle avoidance of mobile robots are mostly applied in transportation systems such as aircraft traffic control, autonomous cars etc. Collision avoidance is a important requirement in mobile robot systems where they all featured some kind of obstacle detection techniques in order to avoid colliding. In this paper it was illustrated the reliability of voice command and obstacle avoidance for autonomous travelling of mobile robot with two wheels as the purpose of application to the manufacturing process by simulation and experiments.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.3
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• pp.313-319
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• 2019

As vessels become larger and competition between ports intensifies, there has been an increase in the number of cases where vessels that exceed the available berths are berthed at the pier. Therefore, there has been an increase in the number of cases in which the bow or stern of a ship is projected and moored. The risk of overhanging berthing is that mooring safety can be compromised because it is not possible to connect the bow and stern mooring line to the ship properly. In addition, collision accidents may occur between moving vessels if the view of a vessel moving in the port is obstructed. Therefore, in this study, the simulation of mooring safety was performed according to the overhanging range in Piers No. 6 and 7 in Ulsan's main port to propose the overhanging limit and operational standards according to each ship. As a result of the assessment, 30,000 DWT bulkers are able to overhang up to 0.75B, and 50,000 DWT bulkers can overhang up to 0.50B. The results of this study are expected to be used as basic data for setting the allowable overhang limit, as well as clear usage criteria for safe unloading operations.