• Journal of Ocean Engineering and Technology
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• v.30 no.1
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• pp.32-43
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• 2016

A UUV needs to have a robust path following performance because of unpredicted current disturbances. Because the desired path of a UUV is usually designed by considering the locations of obstacles or geographical features of the operation region, the UUV should stay on the desired path to avoid damage or loss of the vehicle. However, conventional path following methods cannot deal with strong countercurrent disturbances. Thus, the UUV may deviate from the desired path. In order to avoid such deviation, a backward path following method is suggested. This paper proposes a path following method that combines pure pursuit guidance and nonlinear guidance for the UUV under an unpredicted strong ocean current. For a stable path following system, this paper suggests that the UUV adjust its heading to the current direction using the pure pursuit guidance method when the system is in an unstable region, or the UUV follows the desired path with nonlinear guidance. By combining the pure pursuit guidance and nonlinear guidance, it was possible to overcome the drawbacks of each path following method in the reverse path following case. The efficiency of the proposed method is shown through simulation results compared to those of the pure pursuit method and nonlinear guidance method.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.1-13
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• 2006

The Lyapunov stability theory has been known inadequate to prove capturability of guidance laws because the equations of motion resulted from the guidance laws do not have the equilibrium point. By introducing a proper transformation of the range state, the original equations of motion for a stationary target can be converted into nonlinear equations with a specified equilibrium subspace. Physically, the equilibrium subspace denotes the direction of missile velocity to the target. By using a single Lyapunov function candidate, capturability of several PN laws for a stationary target is then proved for examples. In this approach, there is no assumption of the constant speed missile. The proposed method is expected to provide a unified and simplified scheme to prove the capturability of various kinds of guidance laws.

• Journal of the Society of Disaster Information
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• v.12 no.3
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• pp.228-234
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• 2016

Recent buildings are complicated and tends to be connected each other and even underground spaces. Although the risk of disaster is increasing, it does not provide training or induction refuge. In this paper, we propose evacuation induction system using directional speaker, for providing persons in danger with useful information on the disaster situation and to evacuate people effectively as an accurate and rapid evacuation guidance.

• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.1-8
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• 2016

In this paper, we propose a new algorithm of the guidance line extraction for autonomous agricultural robot based on vision camera in paddy field. It is the important process for guidance line extraction which finds the central point or area of rice row. We are trying to use the central region data of crop that the direction of rice leaves have convergence to central area of rice row in order to improve accuracy of the guidance line. The guidance line is extracted from the intersection points of extended virtual lines using the modified robust regression. The extended virtual lines are represented as the extended line from each segmented straight line created on the edges of the rice plants in the image using the Hough transform. We also have verified an accuracy of the proposed algorithm by experiments in the real wet paddy.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.7
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• pp.69-75
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• 2004

An avoidance/guidance problem of an aircraft against moving obstacle is considered in two dimensional space. The aircraft is modelled as a point mass flying with constant speed. The lateral acceleration is assumed the control input. Artificial potential functions are applied to the terminal point and moving obstacles in order that repulsive forces and an attractive force are produced by the obstacles and the terminal point respectively. A real time guidance/avoidance law is proposed by using the potential forces and relative velocity. The guidance law for a logarithm potential function results the well-known proportional navigation law. The avoidance control command is inverse proportional to the time-to-go to the obstacle and turns the aircraft toward the negative direction of the line-of-sight change. The performance of the proposed guidance/avoidance law is verified with simulations.

• Journal of the Korean Society of Safety
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• v.29 no.5
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• pp.104-109
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• 2014

More than 76% of occupational accidents occur in small and medium sized enterprises(SME) employing less than 50 workers, due to the lack of safety and health systems, and carelessness of workers and owners. Timely Technical Guidance(TTG) project of Korea Occupational Safety & Heath Agency(KOSHA) for SME was initiated to analyze and inform accident causes just after accidents occur. Improvement direction of TTG project is suggested through situation and performance analysis on TTG services conducted in 2012. KOSHA provided TTS services on 15,571 SMEs(suffering at least one accident in 2012), through which the working day losses from recurrence resulted in 19.0%p, 14.5%p and 31.3%p decreases in manufacturing, services and construction businesses, respectively.

• Journal of the Korea Safety Management & Science
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• v.16 no.3
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• pp.443-450
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• 2014

The industrial accident rate has been steadily decreased by making all efforts for the prevention of accidents after enacting Occupational Health and Safety Act in 1981. However, ordinary typed industrial accidents still occur in small and medium sized enterprises(SME). Timely Technical Guidance(TTG) project of Korea Occupational Safety & Heath Agency(KOSHA) for SME's was initiated to visit and provide the analysis and control of industrial accidents by the staffs of KOSHA as soon as possible after accidents occurred. This study is conducted to analyze the questionnaire survey for employers, workers and TTG personnel of KOSHA with being evaluated positively whether the demonstration project of TTG has been executed consistently. However, it is suggested that the understanding of TTG project and legal support are necessary for the establishments, and the development of a variety data and lots of available contents is necessary to increase satisfaction of the TTG project. The accident rate of SME's which are employed less than 50 workers is expected to be largely decreased with applying the control and improvement over this study with maintaining and developing TTG technology.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.411-418
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• 2017

During the intramedullary nailing procedure, surgeons feel difficulty in manipulation of the X-ray device to align it to axes of nailing holes and suffer from the large radiation exposure from the X-ray device. These problems are caused by the fact the surgeon cannot see the hole's location directly and should use the X-ray device to find the hole's location and direction. In this paper, we proposed the robotic guidance of the distal screwing using an optical tracking system. To track the location of the hole for the distal screwing, the reference marker is attached to the proximal end of an intramedullary nail. To guide the drill's direction robustly, the 6-degree-of-freedom robotic arm is used. The robotic arm is controlled so as to align the drill guiding tool attached the robotic arm with the obtained the hole's location. For the safety, the robot's linear and angular velocities are restricted to the predefined values. The experimental results using the artificial bones showed that the position error and the orientation error were 0.91 mm and $1.64^{\circ}$, respectively. The proposed method is simple and easy to implement, thus it is expected to be adopted easily while reducing the radiation exposure significantly.

• Journal of the Optical Society of Korea
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• v.20 no.6
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• pp.739-744
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• 2016

We have designed a new TIR(Total Internal Reflection) structure for generating an LED lens which can produce a rectangular beam with small divergence angle in two perpendicular directions for an optical guidance system. The lens can control the divergence angle in the horizontal direction to be a small value of about $8^{\circ}$ with a $1mm{\times}1mm$ LED source, also in the vertical direction it can be about $7^{\circ}$, with optical collection efficiency higher than 0.83. After the lens is manufactured, the work demonstrates that the lens is suitable for an optical guidance system.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.259-262
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• 2003

In this paper, we studied the path determination algorithm of the guidance robot for the visually impaired. Using the guidance robot for the visually impaired, the visually impaired can go to the destination where they want without other's heir. The navigation path of the guidance robot for the visually impaired must be the optimal path not only the shortest but also the most safe, which is different from a shortest path for common people. GPS and electronic map are used for the location information of the visually impaired. We corrected the error by converting the coordinates of location information from GPS, which includes maximum several tens of meters error, to the coordinates of electronic map. Information such as simple path and direction to the destination is not enough because it may be different between a going path from the start to the destination and a coming path from the destination to the start as around environment. So, we added information which can be dangerous for the visually impaired such as driveway, sidewalk without braille blocks, crosswalk, stairs and overpass, each has weight value as dangerous degree, when matching the GPS information to the electronic map, enough large as 1:5,000 scale.