• 한국산업정보학회논문지
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• 제15권3호
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• pp.1-9
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• 2010

최근 유비쿼터스 환경 구축의 가장 핵심은 센서 네트워크와 RFID 시스템이다. 이 중 RFID 시스템은 태그의 전자정보를 RF 신호를 이용하여 리더에게 전송한다. RFID 시스템은 다중 태그의 존재로 인해 충돌이 발생하고 태그 인식 성능이 저하된다. 그래서 태그 충돌을 중재할 수 있는 방법이 필요하다. 본 논문은 태그 간 충돌을 줄이며 좀 더 빠른 태그 인식이 가능한 하이브리드 방법을 제안한다. 본 논문에서 제안하는 방법은 트리기반 알고리즘의 장점인 확실성을 기반으로 동작하며 충돌을 줄이기 위해 태그 아이디를 이용하여 전송 타임 슬롯을 결정한다. 시뮬레이션을 통한 성능평가에서 다른 트리기반의 알고리즘과 다른 하이브리드 알고리즘에 비하여 충돌 횟수와 쿼리 수에서 높은 성능을 가진다는 것을 보여준다.

• 한국항해항만학회지
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• 제45권6호
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• pp.298-305
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• 2021

자율운항선박(Maritime Autonomous Surface Ships, MASS)의 선회특성이 충돌회피에 미치는 영향을 식별하는 것은 MASS의 충돌회피에 핵심적인 단서를 제공할 수 있다. 본 연구의 목적은 다양한 타각과 선속에 의해서 변할 수 있는 선회특성이 충돌회피에 미치는 영향을 식별하기 위한 것이다. 선회특성이 충돌회피에 미치는 영향은 전장 161 미터 선박의 수학 모델을 이용하여 선회권을 관측한 후, 네 가지 충돌조우상황에 대한 충돌회피 수치 시뮬레이션의 결과를 이용하여 분석하였다. 두 선박 사이의 최소상대거리와 최소시간을 평가 변수로 이용하여 평가한 결과, 타각은 최소상대거리의 변화에 주요한 영향을 미치고, 선박의 속력은 최소시간의 변화에 주요한 영향을 미치는 것으로 나타났다. 본 연구에서 제안한 평가 방법은 MASS의 원격제어에서 충돌회피를 하나의 방법으로 적용 가능할 것으로 기대된다.

• 한국해양공학회지
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• 제24권2호
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• pp.25-33
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• 2010

Collision between vessels may lead to structural damage and penetration of hulls. The structural damage of a hull may eventually bring about global collapse of the hull girder and outflow of oil, which would contaminate seawater. Therefore, various regulations require the strength of a vessel after collision to satisfy given criteria, and owners usually request collision analyses to confirm the structural safety of their vessels. In the process of designing a vessel to satisfy the collision strength criteria, the strength has been assessed mostly by conducting collision analyses using numerical techniques, such as dynamic, non-linear, finite-element analysis. Design is an inherently iterative process during which many changes are necessary due to the endless needs for reinforcement and modification. Numerical techniques are not adequate for coping with a situation in which collision analysis is frequently required to provide the revised results that reflect the repetitive changes in designs. Numerical techniques require a lot of time and money to conduct in spite of recent improvements in computing power and in the productivity of modeling tools. Therefore, in this paper, an analytical technique is introduced and a collision problem is idealized and simplified using reasonable assumptions based on appropriate background. The technique was applied to an example of an actual FPSO and verified by comparing the results with results from the numerical technique. A good correlation was apparent between the results of the analytical and numerical techniques.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.232-237
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• 1998

This paper describes a new method for estimating time-to-collision which exhibits high tolerance to noise contained in camera images. Time to collision (TTC) is one of the most important parameters available from a camera attached to a mobile machine. TTC indirectly stands far the translation speed of the camera and is usually calculated either from successive images or optical flow by using intimate relationship between TTC and flow divergence. In most cases, however, it is not easy to get accurate optical flow, which makes it difficult to calculate TTC. In this study it is proved that if the target has a smooth surface, the average of divergence over any point-symmetric region on the image is equal to the divergence of the center of the region. It means that required divergence can be calculated by integrating optical flow vectors over a symmetric region. It is expected that in the process of the integration, accidental noise is canceled if they are independent of optical flow and the motion of the camera. Experimental results show that TTC can be estimated regardless of the surface condition. It is also shown that influence of noise is eliminated as the area of integration increases.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2006년도 학술대회 1부
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• pp.812-817
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• 2006

This paper presents an image-space algorithm to real-time collision detection, which is run completely by GPU. For a single object or for multiple objects with no collision, the front and back faces appear alternately along the view direction. However, such alternation is violated when objects collide. Based on these observations, the algorithm has been devised, and the implementation utilizes the state-of-the-art functionalities of GPU such as framebuffer objects(FBO), vertex buffer object(VBO) and occlusion query. The experimental results show the feasibility of GPU-intensive collision detection and its performance gain in real-time applications such as 3D games.

• 한국해양공학회지
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• 제15권3호
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• pp.120-127
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• 2001

The potential pollution problems resulting from tanker collision necessitate the requirement for an effective structural design and the development of relevant safety regulations. During a few decades, the great effort has been made by the international Maritime Organization and the Administration, etc, to reduce oil spillage from collision accidents. However there is still a need for investigation in the light of structural evaluation method for the experiments and rational analysis, and design development for an operational purpose of ships. This study aims for investigating a complicated structural response of bow structures of simplified models and oil carriers for assessing the energy dissipation and crushing mechanics of the striking vessels through a methodology of the numerical analysis for the various models and its design changes. Through these study an optimal bow construction absorbing great portion of kinetic energy at the least penetration depth prior to reach to the cargo area and an effective location of collision bulkhead are investigated. In order to obtain a rational results in this study, three stages of collision simulation procedures have been performed step by step as follows; 1) 16 simplified ship models are used to investigate the structural response against bow collision with variation of primary and secondary members. Mass and speed are also varied in four conditions. 2) 21 models consisted of 5 sizes of the full scaled oil carriers are used to perform the collision simulation with the various sizes and deadweight delivered in a recent which are complied with SOLAS and MARPOL. 3) 36 models of 100l oil carrier are used to investigate the structural response and its influence to the collision bulkhead against bow collision in variation with location of collision bulkhead, primary members, framing system and colliding conditions, etc. By the first study using simplified models the response of the bow collision is synthetically evaluated for the parameters influencing to the absorbed energy, penetration depth and impact force, etc.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.417-422
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• 1993

Robots working in the multiple robot system can perform the variety of tasks compared to the single robot system, while they are subject to the various tight constraints such as the precise coordination and the mutual collision avoidance during the task execution. In this paper, we provide an algorithm and graphical verification for collision avoidance between two robots working together. The algorithm calculates the minimum time delay for collision avoidance and the graphical verification is performed through the 3-D graphic simulator.

• 한국분무공학회지
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• 제21권2호
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• pp.78-87
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• 2016

This study experimentally investigated the effects of droplet temperature on the heat transfer characteristics during collision of a single droplet on a heated wall above the Leidenfrost temperature. Experiments were performed by varying temperature from 40 to $100^{\circ}C$ while the collision velocity and wall temperature were maintained constant at 0.7 m/s at $500^{\circ}C$, respectively. Evolution of temperature distribution at the droplet-wall interface as well as collision dynamics of the droplet were simultaneously recorded using synchronized high-speed video and infrared cameras. The local heat flux distribution at the collision surface was deduced using the measured temperature distribution data. Various physical parameters, including residence time, local heat flux distribution, heat transfer rate, heat transfer effectiveness and vapor film thickness, were measured from the visualization data. The results showed that increase in droplet temperature reduces the residence time and increases the vapor film thickness. This ultimately results in reduction in the total heat transfer by conduction through the vapor film during droplet-wall collision.

• 한국항해항만학회지
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• 제27권2호
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• pp.103-109
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• 2003

충돌위험도의 정량적인 평가는 항해 충돌방지 전문가 시스템 개발에 있어서 중요한 역할을 한다. 이 연구에서는 기존의 충돌위험도 평가 방법을 분석하여 문제점을 비교 검토하였으며, 그 대안으로 Sech 함수를 이용한 충돌위험도 평가 방법을 새롭게 시도하였다. 이를 충돌위험도 평가에 적용하고 본선의 안전한 행동구간을 결정할 수 있는 방법을 제시하였다.

• 대한기계학회논문집A
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• 제20권10호
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• pp.3160-3172
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• 1996

A search algorithm for the collision free, time optimal transport path of overhead cranes has been proposed in this paper. The map for the working environment of overhead cranes was constructed in the form of three dimensional grid. The obstacle occupied region and unoccupied region of the map has been represented using the octree model. The best-first search method with a suitable estimation function was applied to select the knot points on the collision free transport path to the octree model. The optimization technique, minimizing the travel time required for transporting objects to the goal while subjected to the dynamic constraints of the crane system, was developed to find the smooth time optimal path in the form of cubic spline functions which interpolate the selected knot points. Several simulation results showed that the selected estimation function worked effectively insearching the knot points on the collision free transport path and that the resulting transport path was time optimal path while satisfying the dynamic constraints of the crane system.