• International Journal of Naval Architecture and Ocean Engineering
• /
• v.12 no.1
• /
• pp.376-386
• /
• 2020

The aim of this study was to develop a new efficient strategy that uses the Vector form Intrinsic Finite-element (VFIFE) method to conduct the static and dynamic analyses of marine pipes. Nonlinear problems, such as large displacement, small strain, and contact and collision, can be analyzed using a unified calculation process in the VFIFE method according to the fundamental theories of point value description, path element, and reverse motion. This method enables analysis without the need to integrate the stiffness matrix of the structure, because only motion equations of particles established according to Newton's second law are required. These characteristics of the VFIFE facilitate the modeling and computation efficiencies in analyzing the nonlinear dynamic problem of flexible pipe with large deflections. In this study, a three-dimensional (3-D) dynamical model based on 3-D beam element was established according to the VFIFE method. The deep-sea flexible pipe was described by a set of spatial mass particles linked by 3-D beam element. The motion and configuration of the pipe are determined by these spatial particles. Based on this model, a simulation procedure to predict the 3-D dynamical behavior of flexible pipe was developed and verified. It was found that the spatial configuration and static internal force of the mining pipe can be obtained by calculating the stationary state of pipe motion. Using this simulation procedure, an analysis was conducted on the static and dynamic behaviors of the flexible mining pipe based on a 1000-m sea trial system. The results of the analysis proved that the VFIFE method can be efficiently applied to the static and dynamic analyses of marine pipes.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2461-2466
• /
• 2003

This paper presents a simple sensor fusion algorithm using neural network for navigation of mobile robots with obstacle avoidance and trap recovery. The multiple sensors input sensor data to the input layer of neural network activating the input nodes. The multiple sensors used include optical encoders, ultrasonic sensors, infrared sensors, a magnetic compass sensor, and GPS sensors. The proposed sensor fusion algorithm is combined with the VFH(Vector Field Histogram) algorithm for obstacle avoidance and AGPM(Adaptive Goal Perturbation Method) which sets adaptive virtual goals to escape trap situations. The experiment results show that the proposed low-level fusion algorithm is effective for real-time navigation of mobile robot.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.487-490
• /
• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.3
• /
• pp.264-268
• /
• 2006

In this paper, we construct the infrastructure with wireless LAN for the teleoperating system of mobile robots. For the stable teleoperating system, we develope an algorithm that measure communication time delay on real-time. We propose the force-reflected teleoperation method that control the stiffness of joystick according to VFH(Vector Field Histogram). Also, an obstacle avoidance method using VFH is presented for the mobile robot to move to the indicated direction without collision. Experiments are conducted to demonstrate the feasibility of the proposed methods.

• Proceedings of the KIEE Conference
• /
• 2006.07d
• /
• pp.1983-1986
• /
• 2006

In this paper, we construct the infrastructure for the teleoperating system of mobile robots. For the stable teleoperating system, we develope an algorithm that measure communication time delay on real-time. We propose the force-reflected teleoperation method that control the stiffness of joystick according to VFH(Vector Field Histogram). Also, an obstacle avoidance method using VFH is presented for the mobile robot to move to the indicated direction without collision. Experiments are conducted to demonstrate the feasibility of the proposed methods.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.563-566
• /
• 2006

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 efficiently by simulation.

• Proceedings of the KIEE Conference
• /
• 2005.05a
• /
• pp.206-208
• /
• 2005

Wireless sensor network's value has increased greatly in recent years in the fields of Ubiquitous Computing that function as solution to reduce both the limitation and collision about RFID Technology. The research for wireless sensor network technology is proceeding with the research for various sensor nodes, powerful routing algorithms, securities for data transmission, and valid applications. This paper suggests that we make the new multi-hop routing algorithm using RSS in order to implement enhanced multi-hop routing algorithm. This paper should demonstrate that the routing algorithm using suggested RSS is superior to routing algorithm based on established BSDV(Destination Sequenced Distance Vector).

• Korean Journal of Computational Design and Engineering
• /
• v.3 no.4
• /
• pp.293-303
• /
• 1998

The objective of this study is to develop a PC level freeform surface modeling system which explicitly represents information of part geometry. Surface modeler uses nonuniform rational B-spline (NURBS) function with nonuniform knot vector for the flexible modeling work. The results of this study are as follows. 1) By implementation surface modeler through applying representation scheme proposed to represent free-form surface explicity, the technical foundation to develop free-from surface modeling system using parametric method. 2) Besides the role to model geometric shape of a surface, geometric modeler is developed to model arbitrary geometric shape. By doing this, the availability of the modeling system is improved. Geometric modeler can be utilized application fields such as collision test of tool and fixture, and tool path generation for NC machine tool.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2011.11a
• /
• pp.1079-1081
• /
• 2011

컨테이너터미널 장치장 내 교차로에서 무인 YT(Yard Tractor)간 충돌방지를 위하여 RFID(Radio Frequency Identification) 태그와 ad-hoc 네트워크를 이용한 교차로 충돌방지 알고리즘을 제안한다. 또한 ad-hoc 네트워크 라우팅 프로토콜은 장치장 교차로에서 충돌방지를 위한 YT 간 통신성능을 결정하는 중요한 요소로써, 장치장 교차로 환경과 YT의 이동성을 고려하여 프로토콜을 결정해야 한다. 따라서 RFID 태그를 이용한 YT 위치정보와 AODV(Ad hoc On demand Distance Vector) 방식의 Hello 메시지를 이용해서 충돌방지를 위한 ad-hoc 네트워크 라우팅 프로토콜을 제안한다.

• Journal of Navigation and Port Research
• /
• v.41 no.6
• /
• pp.445-450
• /
• 2017

It is necessary to set a route to reflect the traffic flow for the safety of the traffic vessels. This ongoing analysis is needed to ensure that the vessels comply with a route. The purpose of this study is to discover the problems of the recommended route vicinity for Wando Harbor and suggest an improvement plan. We used a support vector machine based on the ship's trajectory to establish an efficient route center line. Since the vessels should navigate to the starboard side, with reference to the center line of the recommended route, the trajectories of the vessels were divided into two clusters. The support vector machine is being used in many fields such as pattern recognition, and it is effective for this binary classification. As a result of this study, about 79.5 % of the merchant eastbound ships in a 2.4 NM distance to Jangjuk Sudo did not observe the recommended route, so the risk of collision always existed. The contraflow traffic rate of the route of the eastbound ships decreased from 79.5 % to 30.9 % when the recommended route was reset about 300 meters to the north, from its present position. The support vector machine applied in this study is expected to be applicable, to effectively set the route center line because the ship trajectories can be classified into two clusters.