• 제어로봇시스템학회논문지
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• 제21권12호
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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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• 제34권5호
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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 $O_2$.

• 한국항해항만학회지
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• 제32권7호
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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.

• 해양환경안전학회지
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• 제16권1호
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• pp.101-106
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• 2010

해상교통시스템은 국내의 경제 활동을 촉진하고 국가 간의 운송에 많은 역할을 담당하고 있다. 해상교통시스템의 가능이 유지되고 더욱 발전하기 위해서는 해상에서의 선박교통흐름에 대한 정확한 이해가 필요하다. 지금까지의 해상교통에 대한 연구는 일정기간의 선박 입출항 데이터를 기초로 한 통계적인 분석이 주로 수행되어 왔다. 본 연구에서는 피항판단평가함수에 의하여 자동 피항이 이루어지는 선박교통흐름을 재현하였다. 모델 구축을 위하여 상대선박의 동작에 따른 본선의 피항판단영역의 설정과 피항판단평가의 함수를 고려한 충돌회피 알고리즘을 구성하였다. 또한 선형구성, 속력 및 발생시간간격 등을 고려하여 다수 선박군내에서의 흐름을 재현하는 통합프로그램을 구축하였고, 시뮬레이션을 실시하여 선박 발생 및 그 피항 관계를 검증하였다.

• Bulletin of the Korean Chemical Society
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• 제27권10호
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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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2015년도 추계학술대회
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• pp.20-23
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• 2015

우리나라 항구 주변에는 입 출항하는 선박으로 인하여 해상교통흐름이 복잡하다. 이러한 선박통항의 안전과 효율성을 증진하기 위해 우리나라에서는 해상교통관제 서비스를 시행하고 있다. 24시간 쉴 틈이 없는 해상교통 관제사들의 노력에도 불구하고 관제구역 내에서의 충돌사고는 지속적으로 발생하고 있다. 하지만 VTS관제에 관한 절차는 없어 VTS관제사의 주관에 의한 관제를 실시하고 있는 실정이다. 이에 본 연구는 부산항관제 VHF채널을 3일간 청취하여, 교신내용을 분석하였다. 부산항관제 교신 중 통항에 관련된 사항을 충돌위험도 모델에 적용하여 위험도로 표현하였으며, 관제사들이 선박에게 권고 지시를 하는 시점의 위험도를 조우상황별, 관제사의 경력별, 주 야간별로 도출하였다. 충돌위험도 모델의 위험도는 관제사가 관제시점의 가이드라인으로 이용될 수 있다.

• International Journal of Aeronautical and Space Sciences
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• 제12권3호
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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.

• 대한화학회지
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• 제67권6호
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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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• 제34권12호
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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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• 제53권8호
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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.