A LiDAR-based Visual Sensor System for Automatic Mooring of a Ship (선박 자동계류를 위한 LiDAR기반 시각센서 시스템 개발)
-
- Journal of the Korean Society of Marine Environment & Safety
- /
- v.28 no.6
- /
- pp.1036-1043
- /
- 2022
This paper discusses about the development of a visual sensor that can be installed in an automatic mooring device to detect the berthing condition of a vessel. Despite controlling the ship's speed and confirming its location to prevent accidents while berthing a vessel, ship collision occurs at the pier every year, causing great economic and environmental damage. Therefore, it is important to develop a visual system that can quickly obtain the information on the speed and location of the vessel to ensure safety of the berthing vessel. In this study, a visual sensor was developed to observe a ship through an image while berthing, and to properly check the ship's status according to the surrounding environment. To obtain the adequacy of the visual sensor to be developed, the sensor characteristics were analyzed in terms of information provided from the existing sensors, that is, detection range, real-timeness, accuracy, and precision. Based on these analysis data, we developed a 3D visual module that can acquire information on objects in real time by conducting conceptual designs of LiDAR (Light Detection And Ranging) type 3D visual system, driving mechanism, and position and force controller for motion tilting system. Finally, performance evaluation of the control system and scan speed test were executed, and the effectiveness of the developed system was confirmed through experiments.
Virtual reality simulations are used for education and training in various fields, and are especially widely used in the medical field recently. The education/training simulator consists of tactile/force feedback generation and image/sound output hardware that provides a sense similar to a doctor's treatment of a real patient using real surgical tools, and software that produces realistic images and tactile feedback. Existing simulators are complicated and expensive because they have to use various types of hardware to simulate various surgical instruments used during surgery. In this paper, we propose a dental surgical simulation system using a force feedback device and a morphable haptic controller. Haptic hardware determines whether the surgical tool collides with the surgical site and provides a sense of resistance and vibration. In particular, haptic controllers that can be deformed, such as length changes and bending, can express various senses felt depending on the shape of various surgical tools. When the user manipulates the haptic feedback device, events such as movement of the haptic feedback device or button clicks are delivered to the simulation system, resulting in interaction between dental surgical tools and oral internal models, and thus haptic feedback is delivered to the haptic feedback device. Using these basic techniques, we provide a realistic training experience of impacted wisdom tooth extraction surgery, a representative dental surgery technique, in a virtual environment represented by sophisticated three-dimensional models.
In this paper, we propose a study on the development of deep learning structure to secure visibility of outdoor LED display board according to weather change. The proposed technique secures the visibility of the outdoor LED display board by automatically adjusting the LED luminance according to the weather change using deep learning using an imaging device. In order to automatically adjust the LED luminance according to weather changes, a deep learning model that can classify the weather is created by learning it using a convolutional network after first going through a preprocessing process for the flattened background part image data. The applied deep learning network reduces the difference between the input value and the output value using the Residual learning function, inducing learning while taking the characteristics of the initial input value. Next, by using a controller that recognizes the weather and adjusts the luminance of the outdoor LED display board according to the weather change, the luminance is changed so that the luminance increases when the surrounding environment becomes bright, so that it can be seen clearly. In addition, when the surrounding environment becomes dark, the visibility is reduced due to scattering of light, so the brightness of the electronic display board is lowered so that it can be seen clearly. By applying the method proposed in this paper, the result of the certified measurement test of the luminance measurement according to the weather change of the LED sign board confirmed that the visibility of the outdoor LED sign board was secured according to the weather change.
The deep-sea miner is the tracked vehicle system which drives on the deep-seabed and gathers a manganese nodules. The miner is operated by remote control in real-time by the station of surface vessel. So operating S/W is a important part of miner remote operating. At present, the test miner has been designed and manufactured for near-shore sea-test. The test miner consists of mechanical parts, and electric-electronic parts. Because those parts should be controled and monitored remotely, operating S/W for control and monitoring is necessary by all means. In this paper, real-time operating S/W for a control and monitoring of the test miner was designed and developed using PXI, embedded controller and LabVIEW. This real-time operating S/W was developed for an efficient test of test miner in a near seabed area. Moreover, database management system(DBMS) was developed too for the data management of test miner monitoring using MS SQL and LabVIEW.
This article reviews the papers published in the Korean Journal of Air-Conditioning and Refrigeration Engineering during 2013. It is intended to understand the status of current research in the areas of heating, cooling, ventilation, sanitation, and indoor environments of buildings and plant facilities. Conclusions are as follows. (1) The research works on the thermal and fluid engineering have been reviewed as groups of fluid machinery, pipes and relative parts including orifices, dampers and ducts, fuel cells and power plants, cooling and air-conditioning, heat and mass transfer, two phase flow, and the flow around buildings and structures. Research issues dealing with home appliances, flows around buildings, nuclear power plant, and manufacturing processes are newly added in thermal and fluid engineering research area. (2) Research works on heat transfer area have been reviewed in the categories of heat transfer characteristics, pool boiling and condensing heat transfer and industrial heat exchangers. Researches on heat transfer characteristics included the results for general analytical model for desiccant wheels, the effects of water absorption on the thermal conductivity of insulation materials, thermal properties of Octadecane/xGnP shape-stabilized phase change materials and
Purpose : The purpose of this study is to analyze the mechanical and leaf speed accuracy of the dynamic multileaf collimator (DMLC) and determine the appropriate period of quality assurance (QA). Materials and Methods : The quality assurance of the DMLC equipped with Millennium 120 leaves has been performed total 92 times from January 2012 to June 2014. The the accuracy of leaf position and isocenter coincidence for MLC were checked using the graph paper and Gafchromic EBT film, respectively. The stability of leaf speed was verified using a test file requiring the leaves to reach maximum leaf speed during the gantry rotation. At the end of every leaf speed QA, dynamic dynalog files created by MLC controller were analyzed using dynalog file viewer software. This file concludes the information about the planned versus actual position for all leaves and provides error RMS (root-mean square) for individual leaf deviations and error histogram for all leaf deviations. In this study, the data obtained from the leaf speed QA were used to screen the performance degradation of leaf speed and determine the need for motor replacement. Results : The leaf position accuracy and isocenteric coincidence of MLC was observed within a tolerance range recommanded from TG-142 reports. Total number of motor replacement were 56 motors over whole QA period. For all motors replaced from QA, gradually increased patterns of error RMS values were much more than suddenly increased patterns of error RMS values. Average error RMS values of gradually and suddenly increased patterns were 0.298 cm and 0.273 cm, respectively. However, The average error RMS values were within 0.35 cm recommended by the vendor, motors were replaced according to the criteria of no counts with misplacement > 1 cm. On average, motor replacement for gradually increased patterns of error RMS values 22 days. 28 motors were replaced regardless of the leaf speed QA. Conclusion : This study performed the periodic MLC QA for analyzing the mechanical and leaf speed accuracy of the dynamic multileaf collimator (DMLC). The leaf position accuracy and isocenteric coincidence showed whthin of MLC evaluation is observed within the tolerance value recommanded by TG-142 report. Based on the result obtained from leaf speed QA, we have concluded that QA protocol of leaf speed for DMLC was performed at least bimonthly in order to screen the performance of leaf speed. The periodic QA protocol can help to ensure for delivering accurate IMRT treatment to patients maintaining the performance of leaf speed.
This study was carried out to develop rain shelter which can make an appropriate size and environment for Chinese cabbage rainproof cultivation. Fifty three farms with chinese cabbage rainproof cultivation system have been investigated to set up width and height of rain shelter. Mostly the width of 6m was desired for rain shelter and the height of 1.6m for their eaves, so these values were chosen as the dimensions for rain shelter. After an analysis of their structural safety and installation costs by the specifications of the rafter pipe, Ø
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70