• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.211-217
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• 2014

This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.

• Journal of Aerospace System Engineering
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• v.13 no.5
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• pp.79-86
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• 2019

An anti-collision light of a rotary-wing aircraft is used for the purpose of preventing collision during the operation of an aircraft and is a key component to ensure flight safety. The anti-collision lights of the Korean Utility Helicopter (KUH) consist of upper and lower lights, and the power supply of anti-collision lights mounted on the aircraft. The anti-collision light is designed as a dual structure capable of brightness control and selective lighting. During the operation after delivery of the aircraft, abnormal lighting of anti-collision light occurred. In this paper, a comprehensive review of the aircraft system and component level was conducted to solve these phenomena at first. Then, the causes of anti-collision light anomalies were analyzed and the design changes are presented. The validity of design changes has been verified through the component and aircraft system ground/flight test.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.28 no.1
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• pp.7-12
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• 2016

In this study, a simplified collision model of pile protective structures against a navigation vessel was proposed and verified. The model of pile protective structure were composed by two plastic hinges at below of cap slab and the inside of ground. A nonlinear equation of motions was developed in consideration of the kinematic energy, potential energy and deformation energy in collision event. The developed simplified model were verified by the precise finite element collision analysis of the vessel and the protective structure.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.6
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• pp.691-697
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• 2011

In this study, the vessel collision protective structure and the vessel were modeled numerically and the quasi-static collision analysis was performed to evaluate the maximum protection capacity. In the modeling process of protective structure, the nonlinear behaviors of structure and the supporting conditions of ground including pull-out action were considered. In that of collision vessel, the bow of vessel was modeled precisely, because of the nonlinear behaviors were concentrated on it. For the efficient analysis, the mass scaling scheme was applied, also. To evaluate the differences and efficiency, the dynamic analyses were performed for the same model, additionally. Based on the obtained energy dissipation curves of the structure and the vessel, the moment that the collision force affected to the bridge substructures was determined and the maximum allowable collision velocity was evaluated. Because of the energy dissipation bound can be recognized clearly, this scheme can be used efficient in engineering work.

• 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.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.55 no.2
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• pp.152-161
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• 2019

This research carried out a study on the job characteristics of the skipper of the coastal composite fishing vessels in order to find a way to prevent the ship collision caused by the highest human error among the marine casualty of fishing boats. Video observation was used as the research method in which six CCD cameras were installed on the vessel to collect image data and data extracted from the image were analyzed to derive the results of the functional activity of skipper according to the fishing operation process of experimental fishing vessel. The results are as follows. The working process of the experimental fishing vessel consisted of navigation for fishing ground, setting line, waiting for hauling line, hauling line and navigation to homeport. In these processes, the skipper was performing watchkeeping in the wheelhouse in which he carried out a single task, a dual task that performed two tasks simultaneously, and a triple task that performed two or more tasks simultaneously. In addition, one of the risk factors causing the collision was a no watchkeeping in the wheelhouse for navigating for fishing ground, waiting for hauling line, and hauling line at 25.4%, 64.6% and 0.3%, respectively among the marine casualty while drowsiness caused 1.2% of the marine casualty in navigating for fishing ground. Concurrent tasks that simultaneously perform two or more tasks that can overlook any other important duties while carrying out watchkeeping in the wheelhouse include 51.3% of navigation for fishing ground, 81.9% of setting line, 19.0% of waiting for hauling line, 87.9% of hauling, and 88.7% of navigation to homeport. The above concurrent tasks yielded an average of 66.1%. Experimental fishing vessels are required to focus on ship handling operations related to fishery operations, and the skipper is assigned more activities and attention to fishery related tasks. Therefore, it is considered desirable to build a collision prevention system that is appropriate to the characteristics of the skipper's work, escaping from transferring the responsibility of ship collision to the skipper completely.

• Interaction and multiscale mechanics
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• v.5 no.1
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• pp.75-90
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• 2012

This paper investigates the effects of sports ground materials on the transfer characteristics of the landing impact force using a coupled foot-shoe-ground interaction model. The impact force resulting from the collision between the sports shoe and the ground is partially dissipated, but the remaining portion transfers to the human body via the lower extremity. However, since the landing impact force is strongly influenced by the sports ground material we consider four different sports grounds, asphalt, urethane, clay and wood. We use a fully coupled 3-D foot-shoe-ground interaction model and we construct the multi-layered composite ground models. Through the numerical simulation, the landing impact characteristics such as the ground reaction force (GRF), the acceleration transfer and the frequency response characteristics are investigated for four different sports grounds. It was found that the risk of injury, associated with the landing impact, was reduced as the ground material changes from asphalt to wood, from the fact that both the peak vertical acceleration and the central frequency monotonically decrease from asphalt to wood. As well, it was found that most of the impact acceleration and frequency was dissipated at the heel, then not much changed from the ankle to the knee.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.5
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• pp.103-111
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• 2021

The purpose of this study is to study a method for preventing collisions of multiple drones in controlled airspace. As a result of the study, it was proved that it is appropriate as a method to control drone collisions after setting accurate information on the ROI (Region of Interest) area estimated based on the expected drone path and time in the control system as a method to avoid drone collision. As a result of the empirical analysis, the diameter of the flight path of the operating drone should be selected to reduce the risk of collision, and the change in the departure time and operating speed of the operating drone did not act as an influencing factor in the collision. In addition, it has been demonstrated that providing flight priority is one of the appropriate methods as a countermeasure to avoid collisions. For collision avoidance methods, not only drone sensor-based collision avoidance, but also collision avoidance can be doubled by monitoring and predicting collisions in the control system and performing real-time control. This study is meaningful in that it provided an idea for a method for preventing collisions of multiple drones in controlled airspace and conducted practical tests. This helps to solve the problem of collisions that occur when multiple drones of different types are operating based on the control system. This study will contribute to the development of related industries by preventing accidents caused by drone collisions and providing a safe drone operation environment.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.28 no.5
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• pp.451-457
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• 2015

This paper presents the analytical closed form solution for the impact load of a collision between rigid bodies and its application to a spent nuclear fuel disposal canister accidentally dropped and impacted on the ground. This paper performed a study on the numerical rigid body dynamic analysis to compute the impact load between two rigid bodies, especially, the impulsive force which is applied to the spent nuclear fuel disposal canister in the accidental drop and impact event on the ground. Through this study the impulsive force which is occurring in the spent nuclear fuel disposal canister under accidental drop and impact event on the ground and required in the process of structural safety design of the canister is computed numerically. The main content of this numerical study is about the technical method how to compute the impulsive force applied to the canister under the accidental drop and impact event on the ground by using the commercial computer code for the rigid body dynamic analysis. On the basis of this study a problem to compute the impulsive force which is occurring in the canister in the case of collision with the ground is numerically treated. This numerically computed impulsive force is compared with the theoretical value, which shows a good agreement.

• 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.