• Journal of Navigation and Port Research
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• v.39 no.6
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• pp.515-521
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• 2015

The purpose of this study was to analyze the weights of obstacle factors against mutual access of towed trailers of car-ferry between South Korea and China using Fuzzy-AHP. To this end, factors were first selected through literature research and finally selected through in-depth interviews with a group of experts in cargoes who are currently in car-ferry companies. Selected high rank obstacle factors included unstable service provision, limited policy support, and additional costs being incurred and among them, unstable service provision was identified as the most serious obstacle factor through analysis. Eleven measurement variables selected include insufficient supply of container yard, trailer insurance and management issues, insufficient special equipment, insufficient specialized manpower, limited input service courses, insufficient marketing and public relations strategies, and increasing transportation costs and among them, increasing equipment returning costs due to unbalanced cargo gathering were identified as the most serious obstacle factor through analysis followed by limited input service courses, insufficient special equipment, delays in procedures, and occurrence of additional procedures in order of precedence.

• Journal of the Korea Society for Simulation
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• v.19 no.4
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• pp.129-137
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• 2010

Currently used shortest path search algorithms involve graphs with vertices and weighted edges between each vertex. However, when finding the shortest path with a randomly shaped obstacle(an island, for instance) positioned in between the starting point and the destination, using such algorithms involves high memory inefficiency and is significantly time consuming - all positions in the map should be considered as vertices and every line connecting any of the two adjacent vertices should be considered an edge. Therefore, we propose a new method for finding the shortest path in such conditions without using weighted graphs. This algorithm will allow finding the shortest obstacle bypass given only the positions of the obstacle boundary, the starting point and the destination. When the row and column size of the minimum boundary rectangle to include an obstacle is m and n, respectively, the proposed algorithm has the maximum time complexity, O(mn). This performance shows the proposed algorithm is very efficient comparing with the currently used algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.152-152
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• 2000

In this paper, we propose a new approach to intelligent motion and autonomous maneuvering of mobile robots using hybrid system. In high Level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot as a low vevel are specified in the abstracted motions, The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments.

• Journal of the Society of Naval Architects of Korea
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• v.61 no.2
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• pp.106-114
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• 2024

In the 21st century, the rapid development of automation and artificial intelligence technologies is driving innovative changes in various industrial sectors. In the transportation industry, this is evident with the commercialization of autonomous vehicles. Moreover research into autonomous navigation technologies is actively underway in the aviation and maritime sectors. Consequently, for the practical implementation of autonomous ships, an effective collision avoidance algorithm has become a crucial element. Therefore, this study proposes a collision avoidance algorithm based on the Obstacle Zone by Target(OZT), which visually represents areas with a high likelihood of collisions with other ships or obstacles. The A-star algorithm was utilized to represent obstacles on a grid and assess collision risks. Subsequently, a collision avoidance algorithm was developed that performs fuzzy control based on calculated waypoints, allowing the vessel to return to its original course after avoiding the collision. Finally, the validity of the proposed algorithm was verified through collision avoidance simulations in various encounter scenarios.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.3 no.4
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• pp.227-232
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• 2002

Electronic Travel Aids (ETA) developed for the blind such as sonicguide, mowat sensor and bionic C-5 laser cane have many problems like technical deficiency and high cost. Moreover, these systems have need for more training to perceive obstacle around. Therefore, In this study, we studied the blind's obstacle perception characteristics by human auditory sense, and development of ultrasonic ETA which have more simple usage, low cost and immediate usableness than present ETAs.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.7
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• pp.1866-1872
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• 1994

Turbulent flow in a channel with a square rib periodically mounted on one wall is studied by large-eddy simulation(LES). An efficient 3D Navier-Stokes solver has been written for this geometry using a fractional step method and a multi-grid technique. The Reynolds number considered is 82, 000 based on the mean velocity above the obstacle height. Near-wall turbulence is approximated by a wall-layer model based on the turbulence intensity at the grid point nearest a solid wall. The results show a good qualitative agreement with experiments currently available for a single rib, indicating that LES can be a useful tool in simulating complex turbulent flows.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.9
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• pp.682-687
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• 2009

In order to investigate the effects of three different electrostatic discharge energies on gas explosions, a high-speed PIV system has been applied. The present study paid attention to the flame initiation by the gas explosions and its propagation at the existence of an obstacle within a chamber. Three different ignition energies such as 0.56 mJ, 52.87 mJ and 112.5 mJ were used. It is found that the ignition kernel is bent by the electrostatic discharge during the flame initiation. Tangential velocities of unburnt mixture ahead of initially propagating flame fronts are increased with increasing ignition energy, which makes the flame propagation faster before it reaches the obstacle. Although the flame speed was found to be less sensitive to the ignition energies, the flame developments were different. The effects of the energies on explosion pressures were also discussed.

• Korean Journal of Applied Biomechanics
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• v.18 no.2
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• pp.1-9
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• 2008

The purpose of this study was to investigate the effect of different obstacle heights on the plantar foot pressure during obstacle crossing. Sixteen healthy adults who had no musculoskeletal disorders were instructed to perform unobstructed level walking and to step over obstacles corto 10cm, 20cm, 30cm. Plantar foot forces and pressures were recorded by the Footmat system(Tekscan, Boston, USA) during level and obstacle walking with barefoot. Plantar foot surface was defined as seven regions for pressure measurement; two toe regions, three forefoot regions, one midfoot region, one heel region. One-way ANOVA was used to compare each region data of foot according to various heights. The results indicated that there are significant differences on peak pressure and maximal forces regarding each region at stance phase. As height of obstacle became high, the pathway of COP had a tendency to be short and abducted. Plantar pressure of foot could be changed by obstacle height and these findings demonstrated that obstacle with different height have an effect on structure and function of the foot.

• Journal of The Korean Society For Urban Railway
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• v.6 no.4
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• pp.269-278
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• 2018

Railway obstacle detecion system has been introduced with high-speed railway in 2004 to prevent accidents by obstacles such as landslide, rockfall and things fallen from the gauntry over the railway. But existing system has some limitation for landslide or fallen obstacle over railway. Therefore, In this study, we suggest new advanced obstacle detection system introducing the OTDR, optical fiber fences and detection cameras. This system can detect depression degree by the force to the fences and video for the specific region as well as detection wire Off condition. We produce and functional tests for fiber fence and OTDR, which are the core parts of the development system, and results were obtained to demonstrate improved detection capabilities. Several functions also been tested to verify the advanced detection performance and got some satisfactory results. Further we will conduct environment tests and field test.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.202-210
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• 2019

The obstacles modeling is a fundamental and significant issue for path planning and automatic navigation of Unmanned Surface Vehicle (USV). In this study, we propose a novel obstacles modeling method based on high resolution satellite images. It involves two main steps: extraction of obstacle features and construction of convex hulls. To extract the obstacle features, a series of operations such as sea-land segmentation, obstacles details enhancement, and morphological transformations are applied. Furthermore, an efficient algorithm is proposed to mask the obstacles into convex hulls, which mainly includes the cluster analysis of obstacles area and the determination rules of edge points. Experimental results demonstrate that the models achieved by the proposed method and the manual have high similarity. As an application, the model is used to find the optimal path for USV. The study shows that the obstacles modeling method is feasible, and it can be applied to USV path planning.