• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2003.05a
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• pp.147-156
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• 2003

In order to improve navigational safety of ships, on ocean wave prediction model of high precision within a short time, dealing with multi-directional random waves from the information of the sea surface winds encountered at the planned ship's course, was introduced for construction of ocean wave forecasting system on the ship. In this paper, we investigated a sea disaster occurred by a stormy weather in the past. We analyzed the sea surface winds first and then carried out ocean wave hindercasting simulations according to the routes of the sunken vessel. From the result of this study, we concluded that the sea disaster was caused by rapidly developed low pressure system in Okhotsk Sea and the predicted values by the third generation wave prediction model(WAM) was agreed well with the observed significant wave height, was period, and directional wave spectrum. It gives a good applicability for construction of a practical on-board calculation system.

• Journal of Navigation and Port Research
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• v.32 no.6
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• pp.505-513
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• 2008

Regarding the developmental plans for the coastal areas and marine architectures, this study deal with the overall planning of apartment complexes in waterfront areas, focusing upon the analysis of their comfort and convenience factors from the perspective of the potential residence. It also analysis the intra-complex comfort and satisfaction conditions in terms of their floor-by-floor, directional. and location factors. The results of the study are as follows: 1) The order of respondents' preference on directional factor has been found to be: South > Southeast > Southwest > East > others. 2) 67% of the people surveyed on scenery responded that outward view is considered more significant than the directional factor. 3) A comprehensive analysis of floor zone-specific view preference shared that there were only minor differences among quay wall, arc, and river-seashore types. The impact of the characteristics of the marine environments turned out to be a greater point of consideration; showing that the other of floor-preference is: high-level > ultra-high level > middle level > low level.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1701-1704
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• 2005

We developed an machine vision method for navigation control of a traveling automatic guided vehicle(AGV) on desired trajectory with guided marks. The formulated EDF accumulates the edge magnitude for edge directions. The EDF has distinctive peak points at the vicinity of trajectory directions due to the directional and the positional continuities of desired trajectory. Examining the EDF by its shape parameters of the local maxima and symmetry axis results in identifying whether or not change in traveling direction of an AGV has occurred. Simulation results show that the presented method is useful for navigation control of AGV.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.122-128
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• 2009

In this paper, we present a design and an evaluation of a hand-held ball based haptic interface, named "TouchBall." Using a trackball mechanism, the device provides flexibility in terms of directional degrees of freedom. It also has an advantage of a direct transfer of force feedback through frictional touch (with high sensitivity), thus requiring only relatively small amount of inertia. This leads to a compact hand-held design appropriate for mobile and 3D interactive applications. The device is evaluated for the detection thresholds for directions of the force feedback and the perceived amount of directional force. The refined directionality information should combine with other modalities with less sensory conflict, enriching the user experience for a given application.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.327-334
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• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

• Journal of Mechanical Science and Technology
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• v.17 no.11
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• pp.1693-1703
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• 2003

This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.

• Journal of Korean Port Research
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• v.14 no.4
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• pp.441-450
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• 2000

In order to improve the water quality in semi-enclosed bays, Gug et al. (1997) have proposed a new method to activate the tidal exchange by creation and control of tidal residual current through the addition of artificial elements to creation and control of tidal residual current through the addition of artificial elements to create bottom roughness, so, ot is advisable to arrange as few of these as possible from a point of cost-benefit view. This paper attempts to develop the most suitable shape of artificial bottom roughness units with which to create and control an optimal tidal residual current. Several simple shapes were examined as fundamental cases. Subsequently 38 types of artificial bottom roughness units based on a few simple effective shapes, were examined experimentally. As a result of this research, two types to create artificial roughness.

• Journal of Navigation and Port Research
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• v.31 no.8
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• pp.675-681
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• 2007

A numerical procedure is described for estimating the effects of the multi-directional irregular waves on the structural responses of the Tension Leg Platform (TLP). The numerical approach is based on a three dimensional source distribution method for hydrodynamic forces, a three dimensional frame analysis method for structural responses, in which the superstructure of TLP is assumed to be flexible instead of rigid. Hydrodynamic and hydrostatic forces on the submerged surface of a TLP have been accurately calculated by excluding the assumption of the slender body theory. The hydrodynamic interactions among TLP members, such as columns and pontoons, and the structural damping are included in structural analysis. The spectral description used in spectral analysis of directional waves for the linear system of a TLP in the frequency domain is sufficient to completely define the structural responses. This is due to both the wave inputs and responses are stationary Gaussian random process of which the statistical properties in the amplitude domain are well known. The numerical results for the linear motion responses and tension variations in regular waves are compared with the experimental and numerical ones, which are obtained in Yoshida et al.(1983). The results of comparison confirmed the validity of the proposed approach.

• Journal of Korean Port Research
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• v.13 no.1
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• pp.147-154
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• 1999

A Numerical model is developed in order to predict cross-shore beach profile change. In this model it is assumed that sediment transport is generated by waves(bed load transport suspended load transport) and undertow which is defined as offshore directional steady flow in the surf zone. In addition wave tank experiments which reproduce storm-surge were performed. By comparing resulting profile of calculation with experiments, the applicability of this method is verified.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.04a
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• pp.47-56
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• 2000

In this study, as the preliminary step for developing an unmanned vehicle to deliver a container-box, we designed and implemented Automatic Guided Vehicle(AGV) Simulator for the purpose of Port Facilities Automation. It is preferable to research the intelligent AGV for delivery all day long. For complementing AGV simulator driving, we used multiple-sensor systems with vision, ultrasonic, IR and adapted the high-speed wireless LAN that satisfies the IEEE 802.11 Standard for bi-directional communication between main processor in AGV and Host computer. Here, we mounted on bottom frame in AGV Pentium-III processor, which combine and compute the information from each sensor system and control the AGV driving, and used the 80C196KC micro-controller to control the actuating and steering motors.