• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.9
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• pp.1788-1795
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• 2017

In this paper, we proposed a service that provides CPA/TCPA information to ships, without ARPA/ATA devices to support decision making of the navigator for maritime safety based on various services at shore and off-shore. To verify the proposed service, we use SiNAS (scenario-based simulator for NAS) with CPA/TCPA information providing software to evaluate its usability, because executing the test in real ship has many limitations and difficulties. To do this, we specify two simulation scenarios for the required purpose, and we liaise twelve participants with various navigation experience to conduct the simulations. Also, we analyze the results of simulation using mission success or not, the minimum approaching distance with the target ship, the time of a recognition the target ship, the time of a first action for collision avoidance with the target ship, and so on. Then, we evaluate usability of the proposed service based on the three elements which are effectiveness, efficiency and satisfaction.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.6
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• pp.222-234
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• 2020

Autonomous vehicles are equipped with a wide rage of sensors such as GPS, RADAR, LIDAR, camera, IMU, etc. and are driven by recognizing and judging various transportation systems at intersections in the city. The accident ratio of the intersection of the autonomous vehicles is 88% of all accidents due to the limitation of prediction and judgment of an area outside the sensing distance. Not only research on non-signalized intersection collision avoidance strategies through V2V and V2I is underway, but also research on safe intersection driving in failure situations is underway, but verification and fragments through simple intersection scenarios Only typical V2V failures are presented. In this paper, we analyzed the architecture of the V2V module, analyzed the causal factors for each V2V module, and defined the failure mode. We presented intersection scenarios for various road conditions and traffic volumes. we used the ISO-26262 Part3 Process and performed HARA (Hazard Analysis and Risk Assessment) to analyze the risk of autonomous vehicle based on the simulation. We presented ASIL, which is the result of risk analysis, proposed a monitoring concept for each component of the V2V module, and presented monitoring coverage.

• Journal of Korean Society of Transportation
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• v.22 no.4 s.75
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• pp.147-158
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• 2004

A class of SWP(Stochastic Wane Propagation) models microscopically mimics individual vehicles' stochastic behavior and traffic jam propagation with simplified car-following models based on CA(Cellular Automata) theory and macroscopically captures dynamic traffic flow relationships based on statistical physics. SWP model, a program-oriented model using both discrete time-space and integer data structure, can simulate a huge road network with high-speed computing time. However, the model has shortcomings to both the capturing of low speed within a jam microscopically and that of the density and back propagation speed of traffic congestion macroscopically because of the generation of spontaneous jam through unrealistic collision avoidance. In this paper, two additional rules are integrated into the NaSch model. The one is SMR(Stopping Maneuver Rule) to mimic vehicles' stopping process more realistically in the tail of traffic jams. the other is LAR(Low Acceleration Rule) for the explanation of low speed characteristics within traffic jams. Therefore, the CA car-following model with the two rules prevents the lockup condition within a heavily traffic density capturing both the stopping maneuver behavior in the tail of traffic jam and the low acceleration behavior within jam microscopically, and generates more various macroscopic traffic flow mechanism than NaSch model's with the explanation of propagation speed and density of traffic jam.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.47 no.6
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• pp.10-21
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• 2010

In the cluster-tree network which covers wide area network and has many nodes for monitoring purpose traffic is concentrated around the sink. There are long transmit delay and high data loss due to the intensive traffic when IEEE 802.15.4 is adapted to the cluster-tree network. In this paper we propose Dynamic Channel Allocation algorithm which dynamically allocates channels to increase the channel usage and the transmission success rate. To evaluate the performance of DCA, we assumed the monitoring network that consists of a cluster-tree in which sensing data is transmitted to the sink. Analysis uses the traffic data which is generated around the sink. As a result, DCA is superior when much traffic is generated. During the experiment assuming the least amount of traffic, IEEE 802.15.4, has the minimum length of active period and 90% data transmission success rate. However DCA maintains 11.8ms of active period length and results in 98.9% data transmission success rate.

• 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.

• Advanced Industrial SCIence
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• v.3 no.1
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• pp.23-29
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• 2024

In this scholarly investigation, the focus is placed on the transformative potential of edge computing in enhancing Intelligent Transportation Systems (ITS) for the facilitation of autonomous driving. The intrinsic capability of edge computing to process voluminous datasets locally and in a real-time manner is identified as paramount in meeting the exigent requirements of autonomous vehicles, encompassing expedited decision-making processes and the bolstering of safety protocols. This inquiry delves into the synergy between edge computing and extant ITS infrastructures, elucidating the manner in which localized data processing can substantially diminish latency, thereby augmenting the responsiveness of autonomous vehicles. Further, the study scrutinizes the deployment of edge servers, an array of sensors, and Vehicle-to-Everything (V2X) communication technologies, positing these elements as constituents of a robust framework designed to support instantaneous traffic management, collision avoidance mechanisms, and the dynamic optimization of vehicular routes. Moreover, this research addresses the principal challenges encountered in the incorporation of edge computing within ITS, including issues related to security, the integration of data, and the scalability of systems. It proffers insights into viable solutions and delineates directions for future scholarly inquiry.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.19 no.7
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• pp.741-753
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• 2008

This paper explores the throughput performance of CSMA/CA-based DCF protocol over both ideal channels and fading channels with payload size at the MAC layer in the 802.11a wireless LAN. In the ideal channel, there are no errors and at the transmission cycle there is one and only one active station which always has a packet to send and other stations can only accept packets and provide acknowledgements. In the fading channel, bit errors appear in the channel randomly and the number of stations is assumed to be fixed. And each station always has packets for transmission. In other words, we operate in saturation conditions. Up to now conventional research work about DCF throughput analysis of IEEE 802.11 a wireless LAN has been done over the ideal channel, but this paper is done over the Rayleigh/Ricean fading channel. So, the ratio of received average energy per bit-to-noise power spectral density $E_b/N_o$ is set to 25 dB and the ratio of direct-to-diffuse signal power in each sub-channel $\xi$ is set to 6 for combined Rayleigh/Ricean fading channel. In conclusion, it is shown that the saturation throughput is always less than the maximum throughput at all the payload size and the higher the transmission rate be, the higher the decreasing rate of saturation throughput compared to the maximum throughput be.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1824-1832
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• 2011

In this paper, a smart home service robot McBot II is newly developed in much more practical and intelligent system than McBot I which we had developed a few years ago. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot McBot II to completely overcome this problem on real environments. The mechanical design and the basic control of McBot II, which performs mess-cleanup function etc. in house, is actually focused in this paper. McBot II is mechanically modeled in the same method that the human works in door by using the waist and the hands. The big-ranged vertical lift and the shoulder joints to be able to forward move are mechanically designed for the operating function as the human's waist when the robot works. The mobility of McBot II is designed in the holonomic mobile robot for the collision avoidance of obstacle and the high speed navigation on the small area in door. Finally, good performance of McBot II, which has been optimally desinged, is confirmed through the experimental results for the control of the robotic body, mobility, arms and hands in this paper.

• Journal of Navigation and Port Research
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• v.47 no.6
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• pp.430-436
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• 2023

Study on Changes in Vessel Traffic Services Due to Introduction of Maritime Autonomous Surface ShipsThe development of technologies related to Maritime Autonomous Surface Ships (MASS) has been actively progressing since the mid-2010s, focusing on themes such as collision avoidance, route planning, digital twin, and communication technologies. On the other hand, research on land-based infrastructure connected with MASS, such as logistics systems, port facilities, and vessel traffic services, has relatively received less attention. This study analyzed impact of emergence of MASS on existing vessel traffic service operations and proposed changes in control operations to prepare for its impact. To do this, current vessel traffic service operations were analyzed and elements of MASS technology that could affect vessel traffic control were identified. A survey was conducted among vessel traffic controllers to identify items related to the control of MASS. Results analyzed using the AHP method showed that preparation for emergency response and communication methods with MASS were the most important. Based on this, we were able to derive detailed plans for basic MASS control procedures and emergency response procedures based on data communication within maritime traffic control areas. MASS control procedures proposed in this study are expected to be used as a solution to resolve issues related to traffic safety of MASS in coastal areas.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.4
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• pp.338-347
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• 2023

Jinhae Bay, characterized by frequent runaway ships and strong winds during typhoon attacks, poses a high risk of maritime accidents such as ship collisions and groundings. This study aims to determine a safe separation distance between ships in the Jinhae Bay anchorage, considering the unique environmental characteristics of the Korean sea area. Analysis revealed that an average of 100-200 ships anchor in the typhoon avoidance area in Jinhae Bay during typhoon attacks, with approximately 70% of ships experiencing anchor dragging owing to strong external forces exceeding 25 m/s wind speeds. In this study, we analyzed and presented the separation distances between ships during anchoring operations based on domestic and international design standards, separation distances between ships used as actual typhoon shelters in Jinhae Bay, and appropriate safe distances for ships drifting under strong external forces. The analysis indicated that considering the minimum criteria based on the design standards and emergency response time, a minimum safe distance of approximately 400-900 m was required. In cases where ample space was available, the separation distance was recommended to be set between 700 to 900 m. The findings of this study are anticipated to contribute to the development of guidelines for establishing safe separation distances between ships seeking refuge from typhoons in Jinhae Bay in the future.