• Journal of Positioning, Navigation, and Timing
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• v.12 no.3
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• pp.289-294
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• 2023

As technologies such as cameras, Laser Imaging, Detection, and Ranging (LiDAR), and Global Navigation Satellite Systems (GNSS) become more sophisticated and common, their use in autonomous driving technologies is being explored in various fields. In the maritime area, technologies related to collision avoidance between ships are being developed to evaluate and avoid the risk of collision between ships by setting various scenarios. However, the position of each vessel used in the process of developing collision avoidance technology between vessels uses data obtained through GNSS, and may include a position error of 10 m or more depending on the situation. In this paper, a study on the dynamic safety navigation range including the positional inaccuracy of the ship is conducted. By combining the concept of the protection level obtained using GNSS raw data with a conventional safe navigation range, a safer navigation range can be calculated for dynamic navigation. The calculated range is verified using data obtained while sailing in an actual sea environment.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.5
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• pp.126-135
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• 2014

This paper describes the development and verification of control algorithms for V2X and environmental sensor integrated intersection support and safety systems. The objective of the research is to develop core technologies for effective fusion of V2X and environmental sensors and to develop new safety function for intersection safety. One of core technologies is to achieve the improvement of GPS accuracy, and the other is to develop the algorithm of a vehicle identification which matches all data from V2X, vehicle sensors and environmental sensors to specific vehicles. A intersection optimal pass (IOP) algorithm is designed based on these core technologies. IOP recommends appropriate speed to pass the intersection in the consideration of traffic light signal and preceeding vehicle existence. Another function is developed to prevent a collision avoidance when car crash caused by traffic violation of surrounding vehicles is expected. Finally all functions are implemented and tested in three test vehicles. It is shown that IOP can support convenient and comfortable driving with recommending optimal pass speed and collision avoidance algorithm can effectively prevent collision caused by traffic sign violation of surrounding vehicles.

• Journal of the Korean Society for Railway
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• v.14 no.4
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• pp.333-340
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• 2011

The purpose of this paper is to develop two kinds of finite element models for the heavy deformable obstacle defined in grade crossing collision scenario of the Europe TSI and the Korean rolling stock safety regulations and to apply the crashworthiness evaluation for the Korean high-speed EMU with the FE model. The numerical models of the heavy obstacle were changed from a past rigid one to a current deformable one whose stiffness requirement should be verified by a collision simulation defined in the regulations. Through several trial simulations, two types of numerical models for the heavy obstacle were developed, which satisfied physical properties specifies in the regulations. One is a solid-type obstacle with uniform density and the other is a shell-type. With the obstacles developed in this study, the grade crossing collision scenario for Korean high-speed EMU was simulated and evaluated for the two-type obstacle models. From the simulation results, the shell and solid-type obstacles showed quite different behaviors after collision, and the shell type model gave more severe results.

• Journal of Navigation and Port Research
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• v.33 no.1
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• pp.43-50
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• 2009

Recently, many maritime accidents have been increased and the collisions due to human error are given a great deal of proportions out of them We develop the Real-time Collision Risk Monitoring System (CRMS) for the navigational officers to cope with the emergency situation promptly and thus to reduce the probability of casualty. In this study, the risk of collision and grounding is evaluated by two kinds of method. The first method is based on Fuzzy algorithm, which evaluates the risk of collision between traffic ships. The second method is based on Environmental Stress (ES) Model, where the total risk of collision and grounding is evaluated by the environmental stress felt by human. The developed real-time CRMS has been installed to the ship handling simulator system and its capabilities have been tested through simulator experiments.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.1
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• pp.1-12
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• 2021

The International Maritime Organization (IMO) is promoting the introduction of e-Navigation that prevents maritime accidents by fusion of Information & Communication Technology (ICT) with ship operation technology. In Korea, Korean e-Navigation is also being developed for fishing vessels and small vessels sailing offshore, which are vulnerable to maritime accidents. However, for the successful development of Korean e-Navigation, it is necessary to develop an indicator that can evaluate the development performance so that the development performance that has been progressed so far can be evaluated and the development direction can be re-established. Therefore, this study attempted to develop an evaluation index tailored to the development goal of e-Navigation service centering on the collision accident, which is a major maritime accident. In this study, a collision accident evaluation index for e-Navigation service was developed by deriving and quantifying the root cause of maritime collision accidents using Root cause analysis(RCA) and fault tree analysis (FTA) techniques. This indicator is considered to be helpful in reducing maritime accidents as it is used as a development indicator for e-Navigation and an indicator for maritime collision accident analysis.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.258-262
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• 2017

In this paper, we propose a new collision detection algorithm for human-robot collaboration. We use an IMU sensor located at the tip of the manipulator and the kinematic behavior of the manipulator to detect the unexpected collision between the robotic manipulator and environment. Unlike other method, the developed algorithm uses only the kinematic relationship between the manipulator joint and the end effector. Therefore, the collision estimation signal is not affected by the error of the dynamics model. The proposed collision detection algorithm detects the collision by comparing the estimated acceleration of the end effector derived from the position, velocity and acceleration trajectories of the robot joints with the actual acceleration measured by the sensor. In simulation, we compare the performance of our method with the conventional Residual Observer (ROB). Our method is less sensitive to the load variation because of the independency on the dynamic modeling of the manipulator.

• International Journal of Automotive Technology
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• v.5 no.3
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• pp.173-180
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• 2004

An intensive study was conducted for the crash worthy structural design of the recently developed Korean High Speed Train (KHST). Two main design concepts were set up to protect both crews and passengers from serious injury in heavy collision accidents, and to reduce damage to the train itself in light collision accidents. A collision against a movable 15-ton rigid obstacle at 110 kph was selected from train accident investigations as the accident scenario for the heavy collisions. A train-to-train collision at the relative velocity of 16 kph was used for the light collision. The crashworthiness behaviors of KHST were numerically evaluated using FEM. Analysis results using 1-D collision dynamics model of the full rake consist and 3-D shell element model of the front end structure showed good crashworthy responses in a viewpoint of structural design. Occupant analyses and sled tests demonstrated that KHST performed well enough to protect occupants under the considered accident scenarios. Finally our numerical approaches were evaluated by a real scale collision test.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.74-79
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• 2005

In this paper, we propose a novel approach to decentralized motion planning and conflict-resolution for multiple mobile agents working in an environment with unexpected moving obstacles. Our proposed motion planner has two characteristics. One is a real-time collision prognosis based on modified collision map. Collision map is a famous centralized motion planner with low computation load, and the collision prognosis hands over these characteristics. And the collision prognosis is based on current robots status, maximum robot speeds, maximum robot accelerations, and path information produced from off-line path planning procedure, so it is applicable to motion planner for multiple agents in a dynamic environment. The other characteristic is that motion controller architecture is based on potential field method, which is capable of integrating robot guidance to the goals with collision avoidance. For the architecture, we define virtual obstacles making delay time for collision avoidance from the real-time collision prognosis. Finally the results obtained from realistic simulation of a multi-robot environment with unknown moving obstacles demonstrate safety and efficiency of the proposed method.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.3
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• pp.41-48
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• 2004

Ship is being operated under a highly dynamic environments and many factors are related with ship's collision and those factors are interacting. So, the analysis on ship's collision causes are very important to prepare countermeasures which will ensure the safe navigation. This study analysed the ship's collision data over the past 10 years(1991-2000), which is compiled by Korea Marine Accidents Inquiry Agency. The analysis confirmed that ‘ship's collision' is occurred most frequently and the cause is closely related with human factor. The main purpose of this study is to propose risk control measures of ship's collision. For this, the structure of human factor is analysed by the questionnaire methodology. Marine experts were surveyed based on major elements that were extracted from the human factor affecting to ship's collision. FSM has been widely adopted in modeling a dynamic system which is composed of human factors. Then, the structure analysis on the causes of ship's collision are performed using FSM. This structure model could be used in understanding and verifying the procedure of real ship's collision. Furthermore it could be used as the model to prevent ship's collision and reduce marine accidents.

• Journal of Auto-vehicle Safety Association
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• v.5 no.2
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• pp.45-50
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• 2013

The whiplash Injuries due to rear collision occur frequently. As result, in many countries, seat performance is being assessed and developed to improve head whiplash injury in rear collision of passenger car. This study compares whiplash assessment methods in each country. Using the DFSS(Design for Six Sigma) method, the correlation between influence parameters of head restraints and whiplash injury criteria is analyzed. Four control factors are used in this study. And total 11 whiplash injury criteria from NCAP(New Car Assessment Program) of Korea, Europe, China and IIHS(Insurance Institute for Highway Safety) of USA are used for output response. By the experimental design, L9 orthogonal coordinate system is configured and is tested by sled test equipment, twice. By using average assay value and ANOVA, the correlation between control factors and injury criteria has been comprehended. Optimization design of head restraint according the regional seat safety assessment was derived through the correlation.