• 한국군사과학기술학회지
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• 제15권1호
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• pp.1-8
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• 2012

Obstacle detection is much studied by using sensors such as laser, vision, radar and ultrasonic in path planning for UGV(Unmanned Ground Vehicle), but not much reported about its characterization. In this paper not only an obstacle classification method using 2-dimensional LMS(Laser Measurement System) but also a decision making method whether to avoid or traverse the obstacle is proposed. The basic idea of decision making is to classify the characteristics by 2D laser scanned data and intensity data. Roughness features are obtained by range data using a simple linear regression model. The standard deviations of roughness and intensity data are used as measures for decision making by comparing with those of reference data. The obstacle classification and decision making for the UGV can facilitate a short path to the target position and the survivability of the robot.

• 한국해안·해양공학회논문집
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• 제34권6호
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• pp.211-221
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• 2022

파의 처오름높이는 제방, 호안 및 방파제와 같은 해안 구조물의 설계에 영향을 미치는 가장 중요한 매개변수 중 하나이다. 본 연구에서는 비정수압 수치모형인 SWASH(Zijlema et al., 2011)를 이용해 고정된 수중 및 부유식 사각형 구조물에 의한 고립파의 처오름높이 저감 효과를 분석하였다. SWASH 수치모형이 고립파의 전파, 쇄파 및 처오름현상을 매우 잘 재현하는 것을 확인하였다. 또한 수중 및 부유식 사각형 구조물에 의한 고립파의 파랑변형을 잘 재현하는 것을 확인하였다. 마지막으로 수중 및 부유식 사각형 구조물의 처오름높이 저감 효과를 검토하였다. 부유식 구조물의 에너지 감쇠효과는 수중 구조물보다 크고, 처오름높이 저감에 더 효과적인 것으로 나타났다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.297-298
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• 2009

• 융합신호처리학회논문지
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• 제10권3호
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• pp.198-206
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• 2009

본 논문에서는 빔 폭이 중첩된 초음파 센서 링을 이용하여 초음파 센서의 위치 불확실성을 감소시키고 이를 토대로 이동로봇이 효율적으로 장애물을 탐지하도록 하는 방안에 대해 기술하도록 한다. 기본적으로, 원형 이동로봇 측면에 상대적으로 적은 개수의 중저가의 저지향성 초음파 센서들이 일정 간격으로 상호 빔 폭이 중첩되도록 배치되어 있다고 가정한다. 첫째, 단일 및 이중 장애물에 대해 빔 폭 중첩 상태를 이용하여 초음파 센서 고유의 위치 불확실성을 감소시킬 수 있음을 보이고 또한 그 향상 정도를 정량적으로 제시한다. 둘째, 2개 또는 1개의 초음파 센서로부터 장애물 측정 거리 데이터가 주어질 때, 이동로봇의 중심을 기준으로 하여 장애물의 위치를 산정하는 기하학적 방법을 고안한다. 셋째, 정규 분포, 포물선 분포, 균일 분포, 임펄스 등 기존의 단일 초음파 센서 모델을 비교 검토한 후, 위치 불확실성 및 소요 연산량 측면에서 장애물 탐지에 적합한 중첩 초음파 센서 모델을 수립한다. 마지막으로, 자체 제작된 초음파 센서 링을 이용한 단일 장애물 및 복수 장애물 탐지 실험을 통해 제안된 중첩 초음파 센서의 효용성을 입증한다.

• Nuclear Engineering and Technology
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• 제56권6호
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• pp.2282-2291
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• 2024

In this work we study the effects of different factors of dislocation loop on its obstacle strength when interacting with an edge dislocation. At first, the interaction model for dislocation and dislocation loop is established and the full and partial absorption mechanism is obtained. Then, the effect of temperature, size and burgers vector of dislocation loop are investigated. The relation between the obstacle strength and irradiation dose has been established, which bridges the irradiation source and microscale properties. Except that, the obstacle strength of C, Cr, Ni, Mn, Mo and P decorated dislocation loop is studied. Results show that the obstacle strength for dislocation loop decorated by alloy element decreases in the sequence of Cr, Ni, Mn, C, P and Mo, which could be used to help parameterize and validate crystal plasticity finite element model and therein integrated constitutive laws to enable accounting for irradiation-induced chemical segregation effects.

• 센서학회지
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• 제29권5호
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• pp.348-353
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• 2020

This paper presents an adaptive method to avoid obstacles in various environmental settings, using a two-dimensional (2D) LiDAR sensor for mobile robots. While the conventional reaction based smooth nearness diagram (SND) algorithms use a fixed safety distance criterion, the proposed algorithm autonomously changes the safety criterion considering the obstacle density around a robot. The fixed safety criterion for the whole SND obstacle avoidance process can induce inefficient motion controls in terms of the travel distance and action smoothness. We applied a multinomial logistic regression algorithm, softmax regression, to classify 2D LiDAR point clouds into seven obstacle structure classes. The trained model was used to recognize a current obstacle density situation using newly obtained 2D LiDAR data. Through the classification, the robot adaptively modifies the safety distance criterion according to the change in its environment. We experimentally verified that the motion controls generated by the proposed adaptive algorithm were smoother and more efficient compared to those of the conventional SND algorithms.

• 대한임베디드공학회논문지
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• 제19권3호
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• pp.131-139
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• 2024

Crew Transfer Vessels (CTVs) are primarily used for the maintenance of offshore wind farms. Despite being manually operated by professional captains and crew, collisions with other ships and marine structures still occur. To prevent this, the introduction of autonomous navigation systems to CTVs is necessary. In this study, research on the obstacle avoidance system of the autonomous navigation system for CTVs was conducted. In particular, research on obstacle avoidance simulation for CTVs using deep reinforcement learning was carried out, taking into account the currents and wind loads in offshore wind farms. For this purpose, 3 degrees of freedom ship maneuvering modeling for CTVs considering the currents and wind loads in offshore wind farms was performed, and a simulation environment for offshore wind farms was implemented to train and test the deep reinforcement learning agent. Specifically, this study conducted research on obstacle avoidance maneuvers using MATD3 within deep reinforcement learning, and as a result, it was confirmed that the model, which underwent training over 10,000 episodes, could successfully avoid both static and moving obstacles. This confirms the conclusion that the application of the methods proposed in this study can successfully facilitate obstacle avoidance for autonomous navigation CTVs within offshore wind farms.

• Journal of Information Processing Systems
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• 제16권6호
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• pp.1309-1323
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• 2020

Crowd evacuation simulation is an important research issue for designing reasonable building layouts and planning more effective evacuation routes. The social force model (SFM) is an important pedestrian movement model, and is widely used in crowd evacuation simulations. The model can effectively simulate crowd evacuation behaviors in a simple scene, but for a multi-obstacle scene, the model could result in some undesirable problems, such as pedestrian evacuation trajectory oscillation, pedestrian stagnation and poor evacuation routing. This paper analyzes the causes of these problems and proposes an improved SFM for complex multi-obstacle scenes. The new model adds navigation points and walking shortest route principles to the SFM. Based on the proposed model, a crowd evacuation simulation system is developed, and the crowd evacuation simulation was carried out in various scenes, including some with simple obstacles, as well as those with multi-obstacles. Experiments show that the pedestrians in the proposed model can effectively bypass obstacles and plan reasonable evacuation routes.

• Journal of Advanced Marine Engineering and Technology
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• 제20권5호
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• pp.45-57
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• 1996

Flow characteristics and contamination behavior in a three-dimensional room with the desk-type obstacle have been investigated numerically by the k-${\varepsilon}$ two equation turbulence model. The room model has one supply opening on the ceiling and two exhaust openings on the side walls. Thirty six sets of calculation have been performed for twelve contamination sources of $1{\times}10^{-4}kg_c/(m^3{\cdot}s)$ strength at different inlet velocities(0.1, 1, 10m/s). This study can conclude that the source points of contaminant are located near the obstacle edge of Z-axis, at which the maximum contaminant diffusion fields are occured.

• 전기학회논문지
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• 제63권9호
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• pp.1266-1272
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• 2014

We define the mobile robot navigation problem as an optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using Gauss-Newton method for the optimization, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. When the robot detects the obstacle using sensors, the sub-goal switching method is adopted for the efficient obstacle avoidance during the navigation. The performance was evaluated using the simulation and the simulation results show the validity of the proposed method.