• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.1
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• pp.26-32
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• 2017

Enlargement and speed-up of a ship and diversification of ship's type have served to greatly increase the importance of marine transport means. It's reported that accident occurrence frequency of collision is high next to engine damage among the ship accident types, and that the accident ratio according to human factors is also high. In addition, ship accidents come to occur caused by complex cause factors rather than a sole cause factor, it is necessary to investigate the cause factors through the written verdict. This study proposed the cause factors of collision ship accident on the basis of human factors in collision ship accident among the written verdicts provided by the Korean Maritime Safety Tribunal, and inquired into the cause factor and effect through the correlation analysis of accident occurrence factors. Also, this study predicted the collision accident through analyzed the major cause factor of the occurrence at the zero minute when collision on the basis of the time taken from the time point of detecting collision of ships to the time point of collision occurrence. This study used commercial software-Statistical Package for Social Sciences (SPSS Ver21.0) to do correlation analysis. For time analysis, this study analyzed the cause factor and time by analyzing the time taken from the time point of detected ships to the time point of collision occurrence on the basis of the written verdicts. The study analysis showed that there were many cases of collision ship accidents occurrence caused by more than two sorts of cause factors, and that the case (zero minute) where there is no time to spare for collision avoidance accounted for 36.1 %, and negligence in guard or surveillance of the other ship, and sailing while drowsy, or drinking was a contributor to an accident. Poor watch keeping is very strong relationship with pool ready for sail.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.1
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• pp.1-8
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• 2019

In December 2017, many collision accidents of small vessels, such as those between oil refineries and fishing boats, occurred near Yeonghung-do in Incheon. In order to prevent marine casualties from small vessels, the government is striving to improve the safety capabilities of ship operators by strengthening education and improving the working environment. They are providing education and refining training regulations for fishermen operating vessels under 5 tons. However, the situation includes certain vulnerabilities. In this study, we propose a collision prevention algorithm for small vessels using the Wireless Access in Vehicular Environments (WAVE) communication system, which is a new communication technique to prevent collisions with small ships. The collision avoidance algorithm used is based on DCPA/TCPA. Research analyses, simulation experiments and questionnaires have been conducted to define the criteria of DCPA/TCPA. As a result, the standard for DCPA was $8(L_a+L_b)$ and for TCPA was 2.5 min. Three different accident cases were selected, and this algorithm was applied to confirm alarm responses at certain times. This algorithm can provide information to the operators of small ships in advance to help them recognize potential collision situations.

• Journal of Auto-vehicle Safety Association
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• v.13 no.3
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• pp.78-85
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• 2021

Recently a traffic accident of heavy duty vehicles under the mandatory installation of ADAS (Advanced Driver Assistance System) is often reported in the media. Heavy duty vehicle accidents are normally occurring a high number of passenger's injury. According to report of Insurance Institute for Highway Safety, FCW (Forward Collision Warning) and AEB (Automatic Emergency Braking) were associated with a statistically significant 12% reduction in the rate of police-reportable crashes per vehicle miles traveled, and a significant 41% reduction in the rear-end crash rate of large trucks. Also many countries around the world, including Korea, are studying the effects of ADAS installation on accident reduction. Traffic accident statistics of passenger vehicle for business purpose in TMACS (Traffic safety information Management Complex System in Korea) tends to remarkably reduce the number of deaths due to the accident (2017(211), 2018(170), 2019(139)), but the number of traffic accidents (2017(8,939), 2018(9,181), 2019(10,095)) increases. In this paper, it is introduced a traffic accident case that could lead to high injury traffic accidents by being equipped with AEB in a bus. AEB reduces accidents and damage in general but malfunction of AEB could occur severe accident. Therefore, proper education is required to use AEB system, simply instead of focusing on developing and installing AEB to prevent traffic accidents. Traffic accident of AEB equipped vehicle may arise a new dispute between a driver's fault and vehicle defect. It is highly recommended to regulate an advanced event data recorder system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.6B
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• pp.538-547
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• 2004

Optical Burst Switched (OBS) networks usually employ one-way reservation by sending a burst control packet (BCP) with a specific offset time, before transmitting each data burst frame (BDF). Therefore, The quality of service may be degraded because contentions may lead to loss of BDFs. Especially, this phenomenon becomes more serious when burst size is longer. This necessitates an effective method of prevention to avoid burst collision in nodes. OBS networks can employ several methods to avoid such burst losses. One is that burst size is cut short to reduce burst loss probability during scheduling time. In this paper, we evaluate the burst generation and transmission using Sub-Carrier Multiplexting (SCM) in OBS networks. We propose an appropriate burst assembly architecture and transmission scheme based on SCM in OBS networks. The performance of SCM in OBS networks is examined in terms of number of Sub-Carriers per wavelength, burst loss probability, throughput, and total bandwidth of an optical fiber.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.3
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• pp.456-463
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• 2021

In this paper, Ultra Wide-Band(UWB) radar sensor is employed to detect flying drones and avoid collision in dense clutter environments. UWB signal is preferred when high resolution range measurement is required for moving targets. However, the time varying motion of flying drones may increase clutter noises in return signals and deteriorates the target detection performance, which lead to the performance degradation of anti-collision radars. We adopt a dynamic clutter suppression algorithm to estimate the time-varying distances to the moving drones with enhanced accuracy. A modified Constant False Alarm Rate(CFAR) is developed using an adaptive filter algorithm to suppress clutter while the false detection performance is well maintained. For this purpose, a velocity dependent CFAR algorithm is implemented to eliminate the clutter noise against dynamic target motions. Experiments are performed against flying drones having arbitrary trajectories to verify the performance improvement.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.11 no.4
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• pp.53-60
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• 2011

In Wireless Sensor Networks, IEEE 802.11 happen unnecessary energy consume because of packet transmission using maximum power between sensor node. The BASIC scheme is to use maximum transmission power for RTS-CTS and minimum required transmission power so as to high energy efficiency for DATA-ACK. However BASIC scheme may degrade network throughput with collision of ACK packet by node in carrier sensing zone and may result in higher energy consumption than when using IEEE 802.11 without power control. Existing PCM(Power Control MAC) scheme is to use DATA packet transmission method by periodically maximum power level so as to sensing DATA packet transmit in carrier sensing zone of transmission node, and this method can avoid collision of ACK packet. This paper present problem by energy efficiency of PCM scheme, and design some more improved PCM scheme.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.5B
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• pp.463-468
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• 2009

In VANET(Vheicle Ad hoc Network), the researches based on the wireless LAN are conducting and the method based on 802.11a is being adapted in IEEE 802.11p WAVE(Wireless Access in Vehicular Environments). However, wireless LAN which uses a single channel in a competition can cause transmission delays because of a frequent collision and a use of CSMA/CA to avoid competition in VANET requiring a fast access. In this paper, we designed CMMP (Clustering based Multi-channel MAC protocol) adequate to VANET and then confirmed the appropriate channel conditions in a V2V communication on the basis of this protocol. The simulation results showed that a packet collision and a transmission delay by the use of an existing single channel based on the contention decreased more than 60% by CMMP.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.7
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• pp.622-628
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• 2016

The prosperity of IT technologies and the removal of restrictions regarding Unmanned Aerial Vehicles (UAVs), also known as drones, have driven growth in their popularity. However, without a proper solution to the problem of accident avoidance for UAVs, this popularity increases the potential for collisions between UAVs and between UAV and terrain features. These collisions can occur because UAVs to date have flown using radio control or image recognition based autonomous navigation. Therefore, we propose efficient UAV routing schemes to tackle the collision problem using vehicular communication systems. Performance evaluation by computer simulation shows that the proposed methods effectively reduce the collision probability and improve the routing efficiency of the UAV. Furthermore, the proposed algorithms are compatible and can be directly applied with small overhead to the commercial vehicular communication system implementation.

• Journal of Fisheries and Marine Sciences Education
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• v.21 no.1
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• pp.52-58
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• 2009

With the increase of marine traffic capacity, marine accidents have also been increased for recent several years. Especially watch officer must maneuver not entering into the safety minimum approaching distances when two power-driven vessels are crossing. The author calculated the safety minimum approaching distances to provide a navigator with them based on zig-zag motion by experimental ship. The obtained results are summarized as follows : 1. The greatest distance is to be kept by the give way vessel to avoid collision when the crossing course angle is $90^{\circ}$. In this case the safety minimum approaching distance must be more than from 5 times to 11 times of her own length according to her size. 2. The watch officer of the give way vessel must always take an action to avoid collisions outside of the safety minimum approaching distance. 3. When the navigator used rudder to small angle than to large angle to avoid other vessel he must take action outside the sufficient safety minimum outside distances in advance. 4. Risk of collision in crossing situation is more greater in obtuse situation than in acute one.