• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.5
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• pp.557-565
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• 2021

Path-following control is considered as one of the most fundamental skills to realize autonomous navigation of marine vessels in the ocean. This study addresses with the path-following control for a ship in which there are environmental disturbances in the directions of the surge, sway, and yaw motions. The guiding principle and back-stepping method was utilized to solve the ship's tracking problem on the reference path generated by a virtual ship. For path-following control, error dynamics is one of the most important skills, and it extends to the research fields of automatic collision avoidance and automatic berthing control. The algorithms for the guiding principles and error variables have been verified by numerical simulation. As a result, most error variables converged to zero values with the controller except for the yaw angle error. One of the most interesting results is that the tracking errors of path-following control between two ships are smaller than the existing safe passing distances considering interaction forces from near passing ships. Moreover, a trade-off between tracking performance and the ship's safety should be considered for determining the proper control parameters to prevent the destructive failure of actuators such as propellers, fins, and rudders during the path-following of marine vessels.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.499-505
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• 2004

In this paper, we studied about AGVs modeling and material handling automation simulation using a virtual AGV. The proposed virtual AGV model that operates independently each other is based on a real AGV. Continuous straight-line and workstation model using vector drawing method that could easily, rapidly work system modeling are suggested. Centralized traffic control, which could collision avoidance in intersection and should not stop AGV as possible, and algorithm for detour routing which performs when another AGV is working in pre-routed path are proposed. The traffic control and the algorithm have been proved efficience by simulation.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.9 no.3
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• pp.65-73
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• 1989

Continuum formulations for the expressions of dynamic energy release rates and computational methods for dynamic stress intensity factors are developed for the analysis of dynamic fracture problems subjected to stress wave loading. Explicit volume integral expressions for instantaneous dynamic energy release rates are derived by modeling virtual crack extensions with the dynamic Eulerian-Lagrangian kinematic description. In the finite element applications a finite region around a crack-tip is modeled by using quarter-point singular isoparametric elements, and the volume integrals are evaluated for each crack-tip element during virtual crack extensions while the singularity is maintained. It is shown that the use of the present method is more reliable and accurate for the dynamic fracture analysis than that of other path-independent integral methods when the effects of stress waves are significant.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.289-440
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• 1998

This paper describes an interconnection network structure which transports information among processors through a high speed ATM switch. To efficiently use the high speed ATM switch for the message-based multiprocessor, we implemented the cell router that performs multiplexing and demultiplexing of cells from/to processors. In this system, we use the expanded internal cell format including 3bytes for switch routing information. This interconnection network has 3 stage routing strategies: ATM switch routing using switch routing information, cell router routing using a virtual path identifier (VPI) and cell reassembly routing using a virtual channel indentifier (VCI). The interconnection network consists of the NxN folded switch and N cell routers with the M processor interface. Therefore, the maximum number of NxM processors can be interconnected for message communication. This interconnection network using the ATM switch makes a significant improvement in terms of message passing latency and scalability. Additionally, we evaluated the transmission overhead in this interconnection network using ATM switch.

• Journal of Mechanical Science and Technology
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• v.18 no.1
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• pp.132-144
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• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Journal of Radiation Protection and Research
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• v.30 no.1
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• pp.17-25
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• 2005

Since the safety of nuclear power plant has been becoming a big social issue the exposure dose of radiation for workers has been one of the important factors concerning the safety problem. The existing calculation methods of radiation dose used in the planning of radiation work assume that dose rate does not depend on the location within a work space thus the variation of exposure dose by different work path is not considered. In this study, a modified numerical method was presented to estimate the exposure dose during radiation work in radwaste storage considering the effects of the distance between a worker and sources. And a new numerical algorithm was suggested to search the optimal work path minimizing the exposure dose in pre-defined work space with given radiation sources. Finally, a virtual work simulation program was developed to visualize the exposure dose of radiation doting radiation works in radwaste storage and provide the capability of simulation for work planning. As a numerical example, a test radiation work was simulated under given space and two radiation sources, and the suggested optimal work path was compared with three predefined work paths. The optimal work path obtained in the study could reduce the exposure dose for the given test work. Based on the results, tile developed numerical method and simulation program could be useful tools in the planning of radiation work.

• The KIPS Transactions:PartD
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• v.11D no.6
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• pp.1259-1268
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• 2004

To organize training in limited training area for an actuai combat, realistic training simulation plugged in by various battle conditions is essential. In this paper, we propose a virtual target overlay technique which does not use a virtual image, but Projects a virtual target on ground-based CCD image by appointed scenario for a realistic training simulation. In the proposed method, we create a realistic 3D model (for an instructor) by using high resolution Geographic Tag Image File Format(GeoTIFF) satellite image and Digital Terrain Elevation Data (DTED), and extract the road area from a given CCD image (for both an instructor and a trainee). Satellite images and ground-based sensor images have many differences in observation position, resolution, and scale, thus yielding many difficulties in feature-based matching. Hence, we propose a moving synchronization technique that projects the target on the sensor image according to the marked moving path on 3D satellite image by applying Thin-Plate Spline(TPS) interpolation function, which is an image warping function, on the two given sets of corresponding control point pair. To show the experimental result of the proposed method, we employed two Pentium4 1.8MHz personal computer systems equipped with 512MBs of RAM, and the satellite and sensor images of Daejoen area are also been utilized. The experimental result revealed the effective-ness of proposed algorithm.

• The Journal of the Korea Contents Association
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• v.9 no.11
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• pp.1-9
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• 2009

In virtual environments, such as computer game and animation, we need to enhance naturalness of crowd simulation. So, we propose a method to generate dynamically moving crowd patterns by applying emotional factors to the individual characters of a crowd in the determination of their behavior. The proposed method mimics human behavior and controls each character in a group to decide its own path according to its individual status. And it is able to generate various moving patterns as a result of letting the individuals go to another group depending upon their conditions. In this paper, some temperament and feeling factors are defined and determination rules for calculating the emotional status are also proposed. Moreover we use a fuzzy theory for accurate representation of the ambiguous expressions such as feeling bad, feeling good and so on. Our experiments show that the suggested method can simulate virtual crowd in more natural and diverse ways.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.700-710
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• 2009

A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.

• The Journal of the Korea Contents Association
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• v.11 no.7
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• pp.70-79
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• 2011

The multi-path routing schemes that assigns labels to sensor nodes for the reliability of data transmission and the accuracy of an aggregation query over the sensor networks where data transfer is prone to defect have been proposed. However, the existing schemes have high costs for reassigning labels to nodes when the network topology is changed. In this paper, we propose a novel routing method that avoids duplicated data and reduces the update cost of a sensor node. In order to show the superiority of the proposed scheme, we compare it with the existing scheme through the various experiments. Our experimental results show that our proposed method reduces about 95% the amount of the transmitted data for restoration to node failure and about 220% the amount of the transmitted data for query processing over the existing method on average.