• 제목/요약/키워드: Train Collision

검색결과 124건 처리시간 0.035초

다기능 전방 카메라 개발을 위한 영상 DB 구축 방법에 관한 연구 (A Study on the Image DB Construction for the Multi-function Front Looking Camera System Development)

  • 기석철
    • 한국자동차공학회논문집
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    • 제25권2호
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    • pp.219-226
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    • 2017
  • This paper addresses the effective and quantitative image DB construction for the development of front looking camera systems. The automotive industry has expanded the capability of front camera solutions that will help ADAS(Advanced Driver Assistance System) applications targeting Euro NCAP function requirements. These safety functions include AEB(Autonomous Emergency Braking), TSR(Traffic Signal Recognition), LDW(Lane Departure Warning) and FCW(Forward Collision Warning). In order to guarantee real road safety performance, the driving image DB logged under various real road conditions should be used to train core object classifiers and verify the function performance of the camera system. However, the driving image DB would entail an invalid and time consuming task without proper guidelines. The standard working procedures and design factors required for each step to build an effective image DB for reliable automotive front looking camera systems are proposed.

Novel Reward Function for Autonomous Drone Navigating in Indoor Environment

  • Khuong G. T. Diep;Viet-Tuan Le;Tae-Seok Kim;Anh H. Vo;Yong-Guk Kim
    • 한국정보처리학회:학술대회논문집
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    • 한국정보처리학회 2023년도 추계학술발표대회
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    • pp.624-627
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    • 2023
  • Unmanned aerial vehicles are gaining in popularity with the development of science and technology, and are being used for a wide range of purposes, including surveillance, rescue, delivery of goods, and data collection. In particular, the ability to avoid obstacles during navigation without human oversight is one of the essential capabilities that a drone must possess. Many works currently have solved this problem by implementing deep reinforcement learning (DRL) model. The essential core of a DRL model is reward function. Therefore, this paper proposes a new reward function with appropriate action space and employs dueling double deep Q-Networks to train a drone to navigate in indoor environment without collision.

고속철도 전차선로 드로퍼 클램프 내구성 기준 정립에 관한 연구 (A Study on Durability Standard Specification of the Dropper Clamp of Catenary for High Speed Railway)

  • 오완식;양인동;박병곤;홍석진;김성철
    • 전기학회논문지
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    • 제66권9호
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    • pp.1431-1436
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    • 2017
  • The high-speed railway of catenary system, supplies a stable electric power supply to the train by satisfying the special conditions between pantograph and trolley wire, which operates more than 250km/h mutually sliding and feeding electric lines. According to Korean Railway Standard KRS PW 0026-13 (R), the standard for the grip strength of the dropper clamp in conventional line is established, but the high-speed railway line is not yet. When the grip strength of the dropper clamp is detached from the catenary line of the high-speed railway line, various problems may occur, such as damage to the pantograph due to the collision and arcing. In this paper, it is expected to be used as a basic data for establishing the durability criteria of the high-speed railway dropper clamp by verifying the dropper clamp on the Gyeong-bu and Honam high-speed line.

수소연료전지 자동차용 고전압 배선 시스템 평가 기술 개발 (High Voltage Wiring System Evaluation Methode of FCEV (Fuel Cell Electric Vehicle))

  • 임지선;이정훈;이효정;나주란
    • 한국수소및신에너지학회논문집
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    • 제23권4호
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    • pp.330-336
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    • 2012
  • FCEV uses 250 ~ 450 V instead of using 12 V battery. High voltage vehicle can cause electric shock, fire and explosion accident. Therefore, it has potential factors that can cause hazard of safety for users. United states of America and Europe legislate regulations such as ECE R100, FMVSS 305 for regulating electrical safety during driving or after collision. The company manufacturing high voltage components must do advanced R&D about Method for improving and confirming the safety of high voltage. We develop the specific hardware components of high voltage wiring system for the power train system and power supply system of Hyundai Motors FCEV. This paper shows test method of insulative performance for securing the electrical safety of high voltage components such as power cable, connectors and buss-bar, and proposals the guide line value for human safety of FCEV according to the test result of our development components.

커리큘럼 기반 심층 강화학습을 이용한 좁은 틈을 통과하는 무인기 군집 내비게이션 (Collective Navigation Through a Narrow Gap for a Swarm of UAVs Using Curriculum-Based Deep Reinforcement Learning)

  • 최명열;신우재;김민우;박휘성;유영빈;이민;오현동
    • 로봇학회논문지
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    • 제19권1호
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    • pp.117-129
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    • 2024
  • This paper introduces collective navigation through a narrow gap using a curriculum-based deep reinforcement learning algorithm for a swarm of unmanned aerial vehicles (UAVs). Collective navigation in complex environments is essential for various applications such as search and rescue, environment monitoring and military tasks operations. Conventional methods, which are easily interpretable from an engineering perspective, divide the navigation tasks into mapping, planning, and control; however, they struggle with increased latency and unmodeled environmental factors. Recently, learning-based methods have addressed these problems by employing the end-to-end framework with neural networks. Nonetheless, most existing learning-based approaches face challenges in complex scenarios particularly for navigating through a narrow gap or when a leader or informed UAV is unavailable. Our approach uses the information of a certain number of nearest neighboring UAVs and incorporates a task-specific curriculum to reduce learning time and train a robust model. The effectiveness of the proposed algorithm is verified through an ablation study and quantitative metrics. Simulation results demonstrate that our approach outperforms existing methods.

궤도보수 특수철도차량 탬퍼 모의훈련연습기의 개념설계 (A Conceptual Design on Training Simulator of the Special Railway Vehicle for Multiple Tie Tamper)

  • 안승호;강정형;김철수
    • 한국산학기술학회논문지
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    • 제19권10호
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    • pp.430-436
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    • 2018
  • 궤도보수용 특수철도차량은 열차 운행동안 철도차량의 진동저감 및 승차감 향상을 위하여 다양한 궤도틀림을 조정하는 탬핑장치를 장착한다. 궤도틀림의 선형화 작업에 대한 인적 오류를 감소하기 위하여 실제 탬핑작업의 착오를 바로 확인할 수 있는 모의 훈련연습기의 개발이 중요하다. 기존 2차원 시뮬레이터의 현실성 및 훈련효과를 높이기 위하여 본 연구에서는 가상현실 공간상에서 본 특수철도차량의 탬핑작업에 대하여 3차원 시뮬레이터 모델링을 구현하였다. 탬핑작업동안 고화질화면 작동 시 발생되는 버퍼링 문제는 고화질 다각형 모델링에서 추출한 로우 다각형의 Unwrap UVW 매핑기법을 사용하여 해결하였다. 탬핑작업의 훈련시 발생하는 인적오류는 침목과 탬핑유니트의 탬핑타인 충돌 유무를 원과 사각형 충돌원리로 감지된다. 또한 충돌과 동시에 작업운전실 의자의 진동이 발생되며, 모의연습기 화면에 침목 타격수량이 현시되므로 훈련생의 숙달정도까지 인지하도록 제작되었다. 그리고 침목위에 튀어 오른 자갈은 차량주행 안전성 심각한 영향을 미치므로 탬핑유니트에 자갈 튀는 효과를 적용하였다.

해상에서의 우발적 조우 시 신호 규칙(CUES)의 제한점과 개선을 위한 제언 (Code for Unplanned Encounters at Sea(CUES): Its Limitation and Recommendations for Improvement)

  • 오동건
    • Strategy21
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    • 통권44호
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    • pp.323-351
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    • 2018
  • Adopted in Western Pacific Naval Symposium(WPNS) 2014, Code for Unplanned Encounters at Sea(CUES) has been the most valuable output of WPNS history. Written and suggested by Australian Navy in 1999, the goal of CUES is to decrease the possibility of the naval conflict by establishing the code among international navies in the Western Pacific region. Facing many oppositions and requirement of People's Liberation Army Navy(PLAN) in WPNS 2012 and 2013, but it finally adopted in WPNS 2014, with many changes in detailed provisions. From then, navies in the Western Pacific region have followed CUES to prevent maritime conflicts in the region, CUES, however, sometimes does not work correctly. Contents of CUES is the mixture of the parts of Multinational Maritime Tactical Signal and Maneuvering Book(MTP) and International Regulations for Preventing Collision at Sea 1972(CORLEGs). There are means of radio communications such as frequency and signals, instructions for maneuvering and so on. Thus, it is not a new document for the U.S. Navy and its allies, but it requires training to implicate at sea for navies other than U.S. allies, like PLAN. Lots of provisions in CUES were changed because of the opposition of PLAN, and CUES has many shortcomings and practical limitations. First, since CUES is non-legally binding, and there are no methods to force the naval assets on the sea to follow. Second, CUES is only applied to naval assets; naval ships - warships, naval auxiliaries, and submarines - and naval aircraft. Third, the geographical scope in CUES is not clear. Fourth, there is no provision for submerged submarines. Finally, CUES has no time-based framework or roadmap for training. In this regard, there would be six recommendations for improvement. First, CUES should be reviewed by WPNS or other international institutions, while keeping non-binding status so that WPNS could send signals to the navies which do not answer CUES on the sea. Second, the participation of Maritime Law Enforcements(MLEs) such as coast guard is inevitable. Third, navies would use full text of MTP rather than current CUES, which extracts some parts of MTP. Fourth, CUES needs provisions with respect to submerged submarines, which recognizes as offensive weapons themselves. Fifth, the geographic scope of CUES should be clear. Since there are some countries in which claim that a rock with a concrete structure is their territory, CUES should be applied on every sea including EEZ and territorial seas. Finally, the detailed training plan is required to implicate CUES at sea. Rim of the Pacific (RIMPAC) is a good exercise to train CUES, because almost all WPNS member countries except six countries are participating in RIMPAC. CUES is a meaningful document not only for navies but also for nation-states in the region. To prevent escalation of conflict in the region, potentially caused by an unplanned collision at sea, CUES should be applied more strictly. CUES will continue to be in subsequent WPNS and therefore continue to improve in the effectiveness as both an operational and diplomatic agreement.

대용폐색방식 시행방법 개선에 관한 연구 (A Study on the Improvement for the Implement Way of a Substitute Block System)

  • 송낙균;김해곤;김호순;주창훈;김대식
    • 한국철도학회:학술대회논문집
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    • 한국철도학회 2011년도 춘계학술대회 논문집
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    • pp.1860-1871
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    • 2011
  • Presently, The Regular Block System(Automatic, Interlocking block system) is usually used during the operation of block section. However, In case that the regular block system fails because of the failure of the fixed signals and block equipment or in case of the unexpected emergent situation which should drive on the single-track due to the accidents in the double-track section or the repair work of the one-track, the Substitute Block System to make use of the driving permission license(mapping ticket, mapping paper) is used. In case of the operation of the opposite line and the temporary one-track, the safety gets worse and the SBS may cause the fatal accidents such as a head-on & a rear-end collision. Also, the unmanned railroad stations has recently increased owing to the effective operation of the stations, for it is difficult to execute the SBS in their absence. As a result, the increase of the operation time made the train delayed. Being on the rise of these problems, in this study, we analyzed the problems and difficulties of the SBS on the single line which is lacking stability and safety and on the sections combined between maned and unmaned railroad stations. And we proposed the method to improve the existing drive permission license used for 50 years into the brand-new one with state-of-the art technology and scientific way. In the era of the 21th century, Carrying out the new SBS equipped with stability and safety, we will contribute to the effective operation of trains and the satisfaction of our customers in the future.

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기존선 대용폐색방식 개선에 관한 연구 (A Study on the Improvement for the Substitute Block System of the Conventional Line)

  • 송낙균;김해곤;김호순;김대식;주창훈
    • 한국철도학회:학술대회논문집
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    • 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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    • pp.545-555
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    • 2011
  • Presently, The Regular Block System(Automatic, Interlocking block system) is usually used during the operation of block section. However, In case that the regular block system fails because of the failure of the fixed signals and block equipment or in case of the unexpected emergency which should drive on the single line due to the accidents in the double line section or the repair work of the single line, the Substitute Block System to use the driving permission license(mapping ticket and paper) is used. In case of the operation of the opposite line and the temporary one line, the safety gets worse and the SBS may cause the fatal accidents such as a head-on & a rear-end collision. Also, the unmanned railroad stations has recently increased owing to the effective operation of the stations, for it is difficult to execute the SBS in their absence. As a result, the increase of the operation time made the train delayed. Being on the rise of these problems, in this study, we analyzed the problems and difficulties of the SBS on one line which is lacking stability and safety and on the sections combined between maned and unmaned railroad stations. And we proposed the suitable method in KORAIL referring to the examples of European & Japan railways lately. According to the passing of the high tech time, If the new SBS equipped with stability and safety is executed, it will contribute to the effective operation of trains and the satisfaction of KORAIL customers in the future.

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PSD 설치에 따른 도시철도차량의 동적 거동 분석 (Kinematic Envelope Analysis of the Urban Transit EMU based on PSD Installation)

  • 정종덕;온정근;편장식;박장곤;이종우
    • 한국철도학회논문집
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    • 제16권6호
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    • pp.447-453
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    • 2013
  • 기 현재 많은 역사 내에 PSD(Platform Screen Door)가 설치되어 있고, 이러한 PSD의 안전성이 중요시 되고 있다. 특히 운행중인 도시철도차량과의 간섭은 가장 중요한 부분으로 PSD와 차량의 충돌은 차량 및 승강장에 위치한 승객의 안전을 위협하기 때문이다. 곡선구간에 위치한 승강장을 차량이 진입할 때에 차량의 병진운동과 회전운동을 하기 때문에 PSD와 충분한 간격을 가지고 있어야 한다. 차량의 병진운동과 회전운동은 레일상태, 차량한계, 차량속도 등에 의해 영향을 받는다. 본 연구에서는 도시철도차량, 레일, 기타 매개변수들과 같이 차량의 움직임에 영향을 미치는 요소들을 고려한 도시철도차량의 동적 해석방법을 제시하고자 한다.