• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2011년도 추계학술대회
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• pp.16-18
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• 2011

This study aims to identify the degree of safety when mariners take their actions in several different situations. We have carried out many experiments in order to observe mariners' behavior, and then measured the safety level that is based on their actions to avoid dangerous collision situations. One of the most important actions that mariners have to take, either as their daily routine or when they are in a collision situation and then want to avoid that situation is the lookout. In this paper, behaviors on the lookout have been defined as a standard sequence of three steps that are "time of first detection", "time of recognition as risky vessel" and "time of starting avoiding action", and the suitability and applicability of the definition have been shown. And also we propose the risk assessment on the collision and the recommendation for reducing the collision at sea. Some analyzing results and the application of the results are reported. The sequence of lookout is also understood. By combining these knowledge and some systematic studies, we propose the risk assessment on the collision and the recommendation for reducing the collision at sea.

• 디지털콘텐츠학회 논문지
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• 제10권4호
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• pp.521-527
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• 2009

본 논문에서는 마커 기반의 가상 객체나 opengl 을 이용하여 구현된 가상 객체, 웹 카메라 영상 프레임을 통해 입력된 실물 객체의 충돌처리를 유효화시켜 사용자에게 보다 높은 현실성을 제공하는 증강현실 충돌기법을 제안한다. 증강현실 시스템은 현실의 환경에 가상의 객체를 추가하여 사용자에게 시각적 정보를 제공하는 시스템으로 객체간의 상호작용, 사용자와의 상호작용에 대하여 관심이 높아가고 있다. 그러나 본 논문에서 제안한 충돌처리는 상호작용에 있어서 가장 기본적인 문제가 되기 때문에 선결해야 할 문제이다. 따라서 제안된 시스템에서는 이 문제를 해결하여 마커를 기반으로 구현된 객체와 Opengl을 기반으로 구현된 가상 객체, 웹 카메라 영상 프레임으로부터 입렵된 실물 객체 사이에서 객체간의 충돌을 유효화 시킴으로써 현실성과 몰입도를 증대시킨다.

• Journal of Information Processing Systems
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• 제8권4호
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• pp.713-720
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• 2012

Unlike FEM (Finite Element Method), which provides an accurate deformation of soft objects, FFD (Free Form Deformation) based methods have been widely used for a quick and responsive representation of deformable objects in real-time applications such as computer games, animations, or simulations. The FFD-AABB (Free Form Deformation Axis Aligned Bounding Box) algorithm was also suggested to address the collision handling problems between deformable objects at an interactive rate. This paper proposes an enhanced FFD-AABB algorithm to improve the frame rate of simulation by adding the bounding sphere based collision test between 3D deformable objects. We provide a comparative analysis with previous methods and the result of proposed method shows about an 85% performance improvement.

• 인터넷정보학회논문지
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• 제13권1호
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• pp.7-14
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• 2012

본 논문은 불완전한 채널 감지를 고려한 포화 상태에서의 IEEE 802.11 carrier-sense multiple access with collision-avoidance(CSMA/CA)의 성능을 분석한다. 불완전한 채널 감지는 missed-detection과 false alarm을 포함하는데, 이러한 불완전한 채널 감지가 IEEE 802.11의 성능에 미치는 영향을 분석하고 이를 수식적으로 표현한다. 물리 계층의 불완전한 채널 감지를 표현하기 위해, 본 논문에서는 기존의 2차원 마코프 프로세스 모델을 수정했다. 모의실험 결과와 제안된 모델의 이론적인 결과가 일치하는 것을 보였다. 이러한 실험 결과를 바탕으로, 감지 확률이 IEEE 802.11의 성능에 있어 가장 중요한 요소임을 확인하였다.

• 한국통신학회논문지
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• 제16권12호
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• pp.1286-1299
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• 1991

본 논문은 단일확산코드 CDMA 방식의 중앙 집중 패킷 라디오 시스팀들을 위한 다중캡쳐 모델을 적시하였다. 중양 수신기에서 collision-free, 헤더 검출, 다중캡쳐 확률들을 계산하기 위한 기본식들을 유도하였다 포락선(envelope) 헤더 검출방식과 차동(differential) 데이타 검출방식을 결합한 hybrid 시스팀에 평균 패킷캡쳐의 수, 동시전송가능한 패킷의 수, 시스팀 throughput 등 link 레벨의 성능들이 이론적으로 평가되었다. 포락선 또는 차동 헤더 검출방식의 중앙 수신기에 대해 블럭별 회로의 BOSS 시뮬레이션을 축행하였다. 데이타패킷 성공확률에 threshold 모델을 적용하여 다중캡쳐 모델이 시스팀의 throughput을 현저히 증가시킬 수 있음을 확인하였다.

• 한국통신학회논문지
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• 제30권10A호
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• pp.877-885
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• 2005

Home Phoneline Networking Alliance (HomePNA) 2.0 기술은 기존의 댁내 전화 선로를 이용하여 홈 네트워크를 구축하는 기술로서, 4-32 Mbps의 고속 데이터 전송 속도를 제공한다. 이러한 HomePNA 2.0의 Medium Access Control(MAC) 프로토콜은 IEEE 802.3 Carrier Sense Multiple Access with Collision Detection (CSMA/CD) 방식을 사용하면서, Quality of Service(QoS) 알고리즘을 제공하구 충돌 해결 알고리즘은 Distributed Fair Priority Queuing(DFPQ) 알고리즘을 사용한다. 본 논문은 HomePNA 2.0 MAC 프로토콜 성능의 중요 요소인 포화 처리율(Saturation Throughput), 패킷 지연(Packet Delay) 및 패킷 지터(Packet Jitter)에 대한 수학적인 모델을 제안하고, 이에 대한 모의 실험(Simulation) 결과를 제공하며, 각각의 모의 실험 결과를 분석함으로써, HomePNA 2.0 MAC 프로토콜의 성능을 종합적으로 분석한다.

• International Journal of Aeronautical and Space Sciences
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• 제12권3호
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• 자동차안전학회지
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• 제14권3호
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• pp.60-64
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• 2022

In the automotive industry, the development of automobiles to meet safety requirements is becoming increasingly complex. This is because quality evaluation agencies in each country are continually strengthening new safety standards for vehicles. Among these various requirements, collision safety must be satisfied by controlling airbags, seat belts, etc., and can be defined as post-crash safety. Apart from this safety system, the Advanced Driver Assistance Systems (ADAS) use advanced detection sensors, GPS, communication, and video equipment to detect the hazard and notify driver before the collision. However, research to improve passenger safety in case of an accident by using the sensor of active safety represented by ADAS in the existing passive safety is limited to the level that utilizes the sudden braking level of the FCA (Forward Collision-avoidance Assist) system. Therefore, this study aims to develop logic that can improve passenger protection in case of an accident by using ADAS information and driving information secured before a collision. The proposed logic was constructed based on LSTM deep learning techniques and trained using crash test data.

• 로봇학회논문지
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• 제3권3호
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• pp.212-218
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• 2008

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

• 한국게임학회 논문지
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• 제2권1호
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• pp.69-76
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• 2002

본 논문은 격투게임의 기본적인 게임제작 기법과 격투자간 충돌처리 기법, 격투의 기(技:Skill) 처리, 적 캐릭터의 사고루틴 및 사고루틴의 처리방법, 격투게임의 알고리즘 구조에 관하여 고찰하였으며, 격투게임에 많이 적용하고 있는 디자인패턴 클래스인 Template Method와 Strategy Method기법의 알고리즘에 관해서도 고찰 연구하였다.