• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1089-1099
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• 2015

This paper proposes vision-based collision risk estimation method for an unmanned surface vehicle. A robust image-processing algorithm is suggested to detect target obstacles from the vision sensor. Vision-based Target Motion Analysis (TMA) was performed to transform visual information to target motion information. In vision-based TMA, a camera model and optical flow are adopted. Collision risk was calculated by using a fuzzy estimator that uses target motion information and vision information as input variables. To validate the suggested collision risk estimation method, an unmanned surface vehicle experiment was performed.

• Bulletin of the Korean Chemical Society
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• v.34 no.5
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• pp.1494-1502
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• 2013

Energy flow and C-$H_{methyl}$ and C-$H_{ring}$ bond dissociations in vibrationally excited toluene in the collision with $N_2$ and $O_2$ have been studied by use of classical trajectory procedures. The energy lost by the vibrationally excited toluene upon collision is not large and it increases slowly with increasing total vibrational energy content between 5,000 and 45,000 $cm^{-1}$. Intermolecular energy transfer occurs via both of V-T and V-V transfers. Both of V-T and V-V transfers increase as the total vibrational energy of toluene increases. When the total energy content $E_T$ of toluene is sufficiently high, either C-H bond can dissociate. The C-$H_{methyl}$ dissociation probability is higher than the C-$H_{ring}$ dissociation probability, and that in the collision with $N_2$ is larger than with $O_2$.

• Journal of Navigation and Port Research
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• v.32 no.7
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• pp.521-527
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• 2008

The Istanbul Strait is one of the important waterways in the world. And its southern entrance has a highly congested local traffic. Till now there are several studies regarding how the Istanbul Strait is dangerous to navigate and how those dangers can be mitigated. But there is no study regarding local traffic which is posing great collision risk. In a certain traffic area, marine traffic safety assessment parameters are traffic volume, frequency of collision avoidance maneuver, traffic density, traffic flow and potential encounter, In this paper local traffic volume, traffic flow and potential encounter number of local traffic vessels and possibility of collision are investigated in order to find degree of danger at the southern entrance of the Istanbul Strait. Finally by utilizing those, risky areas are determined for southern entrance of the Istanbul Strait. Results have been compared to a previous study regarding risk analysis at congested areas of the Istanbul Strait (Aydogdu, 2006) and consistency of the results were presented.

• Journal of the Korean Society of Marine Environment & Safety
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• v.16 no.1
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• pp.101-106
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• 2010

Marine transportation system plays an important role in maintaining and promoting economic activities among countries. The accurate understanding of marine traffic flows are necessary for the further advancement of marine transportation system. While many existing researches on marine traffic have been conducted mainly on the basis of statistical analysis using traffic data, ship's traffic flow simulation model was developed in this study. A collision avoidance algorithm was conducted with categorizing of traffic factors such as ship's length and speed. The developed model was also verified by a simulation process.

• Bulletin of the Korean Chemical Society
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• v.27 no.10
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• pp.1641-1647
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• 2006

Vibrational relaxation and competitive C-$H_{methyl}$ and C-$H_{ring}$ bond dissociations in vibrationally excited methylpyrazine in the collision with HF have been studied by use of classical trajectory procedures. The energy lost by the vibrationally excited methylpyrazine upon collision is not large and it increases slowly with increasing total vibrational energy content between 20,000 and 45,000 $cm^{-1}$. Above the energy content of 45,000 $cm^{-1}$, however, energy loss decreases. The temperature dependence of energy loss is negligible between 200 and 400 K, but above 45,000 $cm^{-1}$ the energy loss increases as the temperature is raised. Energy transfer to or from the excited methyl C-H bond occurs in strong collisions with HF, that is, relatively large amount of translational energy is transferred in a single step. On the other hand, energy transfer to the ring C-H bond occurs in a series of small steps. When the total energy content ET of methylpyrazine is sufficiently high, either or both C-H bonds can dissociate. The C-$H_{methyl}$ dissociation probability is higher than the C-$H_{ring}$ dissociation probability. The dissociation of the ring C-H bond is not the result of the direct intermolecular energy flow from the direct collision between the ring C-H and HF but the result of the intramolecular flow of energy from the methyl group to the ring C-H stretch.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.20-23
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• 2015

In ports of Korea, the marine traffic flow is congested due to a large number of vessels coming in and going out. In order to improve the safety and efficiency of these vessels, South Korea is operating with a Vessel Traffic System, which is monitoring its waters 24-7. However despite these efforts of the VTS (Vessel Traffic System) officers, marine accidents are occurring in their assigned districts. VTS Officers are controlling subjectively based on their experience due to no VTS guideline. On this paper, we listened to Busan VHF channel for 3days and applied to collision risk model. With collision risk model, We deducted a moment which advise or recommend to vessel in encounter situation, VTSO's career, day&night.. We suggested a collision risk value as guide line of VTSO's control time.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• Journal of the Korean Chemical Society
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• v.67 no.6
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• pp.407-414
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• 2023

The present study uses quasi-classical trajectory procedures to examine the vibrational relaxation and dissociation of the methyl and ring C-H bonds in excited methylpyrazine (MP) during collision with either N₂ or O₂. The energy-loss (-ΔE) of the excited MP is calculated as the total vibrational energy (E_T) of MP is increased in the range of 5,000 to 40,000cm^-1. The results indicate that the collision-induced vibrational relaxation of MP is not large, increasing gradually with increasing E_T between 5,000 and 30,000 cm^-1, but then decreasing with the further increase in E_T. In both N₂ and O₂ collisions, the vibrational relaxation of MP occurs mainly via the vibration-to-translation (V→T) and vibration-to-vibration (V→V) energy transfer pathways, while the vibration-to-rotation (V→R) energy transfer pathway is negligible. In both collision systems, the V→T transfer shows a similar pattern and amount of energy loss in the ET range of 5,000 to 40,000cm^-1, whereas the pattern and amount of energy transfer via the V→V pathway differs significantly between two collision systems. The collision-induced dissociation of the C-H_methyl or C-H_ring bond occurs when highly excited MP (65,000-72,000 cm^-1) interacts with the ground-state N₂ or O₂. Here, the dissociation probability is low (10^-4-10^-1), but increases exponentially with increasing vibrational excitation. This can be interpreted as the intermolecular interaction below E_T = 71,000 cm^-1. By contrast, the bond dissociation above E_T = 71,000 cm^-1 is due to the intramolecular energy flow between the excited C-H bonds. The probability of C-H_methyl dissociation is higher than that of C-H_ring dissociation.

• Bulletin of the Korean Chemical Society
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• v.34 no.12
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• pp.3641-3648
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• 2013

Energy transfer and bond dissociation of $C-H_{methyl}$ and $C-H_{ring}$ in excited toluene in the collision with $H_2$ and $D_2$ have been studied by use of classical trajectory procedures at 300 K. Energy lost by the vibrationally excited toluene to the ground-state $H_2/D_2$ is not large, but the amount increases with increasing vibrational excitation from 5000 and $40,000cm^{-1}$. The principal energy transfer pathway is vibration to translation (V-T) in both systems. The vibration to vibration (V-V) step is important in toluene + $D_2$, but plays a minor role in toluene + $H_2$. When the incident molecule is also vibrationally excited, toluene loses energy to $D_2$, whereas it gains energy from $H_2$ instead. The overall extent of energy loss is greater in toluene + $D_2$ than that in toluene + $H_2$. The different efficiency of the energy transfer pathways in two collisions is mainly due to the near-resonant condition between $D_2$ and C-H vibrations. Collision-induced dissociation of $C-H_{methyl}$ and $C-H_{ring}$ bonds occurs when highly excited toluene ($55,000-70,400cm^{-1}$) interacts with the ground-state $H_2/D_2$. Dissociation probabilities are low ($10^{-5}{\sim}10^{-2}$) but increase exponentially with rising vibrational excitation. Intramolecular energy flow between the excited C-H bonds occurring on a subpicosecond timescale is responsible for the bond dissociation.

• Nuclear Engineering and Technology
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• v.53 no.8
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• pp.2464-2476
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• 2021

Direct-contact heat transfer of a single saturated droplet upon colliding with a heated wall in the regime of film boiling was experimentally investigated using high-resolution infrared thermometry technique. This technique provides transient local wall heat flux distributions during the entire collision period. In addition, various physical parameters relevant to the mechanistic modelling of these phenomena can be measured. The obtained results show that when single droplets dynamically collide with a heated surface during film boiling above the Leidenfrost point temperature, typically determined by droplet collision dynamics without considering thermal interactions, small spots of high heat flux due to localized wetting during the collision appear as increasing We_n. A systematic comparison revealed that existing theoretical models do not consider these observed physical phenomena and have lacks in accurately predicting the amount of direct-contact heat transfer. The necessity of developing an improved model to account for the effects of local wetting during the direct-contact heat transfer process is emphasized.