• Journal of the Korean Society of Marine Environment & Safety
• /
• v.17 no.3
• /
• pp.235-243
• /
• 2011

Gyeongin Ara Waterway will be open on Oct., 2011, Which is the first inland artificial waterway constructed in Korea. There have been arguments about the environmental issues and economic effectiveness, however, it's now time to focus on the safety of navigation at the waterway to protect human life, property and environment. Therefore this paper aims at examining the establishment of the rule of safe navigation and management for the safe and effective management of the waterway and tries to draft the rules based on these examinations. The draft rule consists of 7 chapters, which are general rules, general rules on navigation, specific rules on navigation, general restrictions, emergency response, restrictions on navigation and penalties in consideration of the characteristic of Gyeongin Ara Waterway and regulations on navigation in major canals in the world.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.473-478
• /
• 1992

This paper aims to investigate the navigation control of a mobile robot in a confined environment. Steering angle becomes control variable which is computed from the fuzzy control rules. The identification method proposed in this paper presents the fuzzy control rules obtained through modelling of. the driving actions of human operator. The feasibility of the proposed method is evaluated through the application of the identified fuzzy controls rules to the navigation control of a mobile robot which follows the center of a corridor.

• Journal of Korea Multimedia Society
• /
• v.18 no.3
• /
• pp.387-400
• /
• 2015

A fuzzy logic based mobile robot navigation system was developed to improve the driving ability without trapping inside obstacles in complex terrains, which is one of the most concerns in robot navigation in unknown terrains. The navigation system utilizes the data from ultrasonic sensors to recognize the distances from obstacles and the position information from a GPS sensor. The fuzzy navigation system has two groups of behavior rules, and the robot chooses one of them based on the information from sensors while navigating for the targets. In plain terrains the robot with the proposed algorithm uses one rule group consisting of behavior rules for avoiding obstacle, target steering, and following edge of obstacle. Once trap is detected the robot uses the other rule group consisting of behavior rules strengthened for following edge of obstacle. The output signals from navigation system control the speed of two wheels of the robot through the fuzzy logic data process. The test was conducted in the Matlab based mobile robot simulator developed in this study, and the results show that escaping ability from obstacle is improved.

• Journal of the Korean Institute of Navigation
• /
• v.16 no.3
• /
• pp.1-17
• /
• 1992

Although there are numerous regulations provided for the Steering and Sailing Rules on the International Regulation forPreventing Collisions at Sea, 1972(hereinafter called COLREG), the most important Sailing Rules for approaching between two vessels in sight of one another could actually be defined as three typical aspects based on both the COLREG and practical sea experience. The Rules are overtaking , head-on situation and crossing situation applicable, those clearly prescribes on the COLREG. Thus, for easy understanding of these Rules comprehensive legal research is performed by every chapter in this paper so as to make practical implementation by duty officer of apprentice of shipping concerned. Consequently an aim of the study intends not only to exonerate any vessel, or the owner, master or crew there of, from consequences of well understanding and timely implementation to complying with the aforementioned three typical Steering and Sailing Rules which may be required by ordinary practice of seamen but also to avoid risk of collision at sea.

• Journal of Navigation and Port Research
• /
• v.32 no.7
• /
• pp.529-535
• /
• 2008

As a method to reduce collision accidents of ships at sea, this paper suggests an expert system for collision avoidance and navigation (hereafter "ESCAN"). The ESCAN is designed and developed by using the theory and technology of expert system and based on the information provided by AIS and RADAR/ARPA system. In this paper the ESCAN is composed of four(4) components; Facts/Data Base in charge of preserving data from navigational equipment, Knowledge Base storing production rules of the ESCAN, Inference Engine deciding which rules are satisfied by facts or objects, User System Interface for communication between users and ESCAN. The ESCAN has the function of real--time analysis and judgment of various encountering situations between own ship and targets, and is to provide navigators with appropriate plans of collision avoidance and additional advice and recommendation This paper, as a basic study, is to introduce the basic design and function of ESCAN.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.7 no.3
• /
• pp.176-181
• /
• 2007

This paper presents evolvable neural networks based on a developmental model for navigation control of autonomous mobile robots in dynamic operating environments. Bio-inspired mechanisms have been applied to autonomous design of artificial neural networks for solving practical problems. The proposed neural network architecture is grown from an initial developmental model by a set of production rules of the L-system that are represented by the DNA coding. The L-system is based on parallel rewriting mechanism motivated by the growth models of plants. DNA coding gives an effective method of expressing general production rules. Experiments show that the evolvable neural network designed by the production rules of the L-system develops into a controller for mobile robot navigation to avoid collisions with the obstacles.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.19 no.5
• /
• pp.491-496
• /
• 2013

Since IMO(International Maritime Organization, hereafter IMO) has decided the Wing-In-Ground craft as one of the ships, A few regulations and recommendations have been revised and approved internationally and domestically. However, the navigation rules considering types and navigation characteristics to secure the safe navigation of Wing-In-Ground craft are not sufficient and especially, there are no navigation rule between Wing-In-Ground crafts. In this situation, it is judged that the navigation rules related to the Wing-In-Ground crafts in any condition of visibility should be moved to the section of the ones in sight of one another to define the responsibilities between WIG and other vessels, and the new regulation, which Type 'B' and 'C' WIGs should avoid Type 'A' WIG, has to be established to ensure the safe navigation between WIGs on the current laws.

• Journal of Navigation and Port Research
• /
• v.27 no.6
• /
• pp.661-667
• /
• 2003

There are certain guidelines on the channel design such as domestic guidelines（Korean and japanese, etc.）and international guideline known as PIANC Rules（Permanent International Association of Navigation Congresses Rules）, in the world These rules have considered many factors such as natural conditions, ship maneuverability and geographical features etc. But it is contented toot the area of these rules toot are meant to facilitate the ease of ship-handling is insufficient. To satisfy this point in design process, it is necessary to take into account the difficulties encountered in ship-handling within these inland waterways. Because many vessels are navigating at the same time within these waterways, the specific navigable traffic volume should be considered with regard to the standard process of route designing. It must also be considered with regard to the volume of navigable traffic bemuse of ship-handling difficulty toot arises within the same waterway with varying amounts of traffic volume because toot ship-handling/manueverability is directly influenced by these factors. This paper aims to propose a new approach to the design of standard inland water route considering the traffic volume and the shape of waterway. Also consider the relationship among these factors may affect to the ship-handling difficulties.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.673-674
• /
• 2008

This paper presents a new navigation algorithm of an autonomous mobile robot with vision and IR sensors, Zigbee Sensor Network using fuzzy rules. We also show that the developed mobile robot with the proposed algorithm is navigating very well in complex unknown environments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2001.10a
• /
• pp.121-140
• /
• 2001

- We explored the application of VR technologies to implement VR-Based Navigation Simulator Using VRML. - VR Ship Simulator gave some useful functions such as maneuvering ship with ease of learning the International Conventions to Preventing Collisions at sea. - AtoN Simulator can give attractive and interesting experiences with ease of learning the rules of IALA system and ease of comprehension of Aids to Navigation characteristics in various weather conditions - Results from tests, it became apparent that the developed VR-based Navigation Simulator could be adequate to next generation ship simulator.