• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.2
• /
• pp.141-147
• /
• 2008

In this paper, we present one approach to achieve safe navigation in indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms have a fundamental limitation that the robot can avoid only "visible" obstacles. In real environment, it is not possible to detect all the dynamic obstacles around the robot. There exist a lot of "occluded" regions due to the limitation of field of view. In order to avoid possible collisions, it is desirable to consider visibility information. Then, a robot can reduce the speed or modify a path. This paper proposes a safe navigation scheme to reduce the risk of collision due to unexpected dynamic obstacles. The robot's motion is controlled according to a hybrid control scheme. The possibility of collision is dually reflected to a path planning and a speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The presented result shows that the robot moves along the safe path to obtain sufficient field of view, while appropriate speed control is carried out.

• Journal of Korean Society of Transportation
• /
• v.27 no.3
• /
• pp.17-28
• /
• 2009

To analyze the risk according to accident types by novice and experienced drivers, it is used the accidents data which occurred for 2 years(2005~2006) in Korea. It is defined that novice driver is a people who is not passed 1 year after getting a driving licence and experienced driver is a people who is passed 1 year in this study. It is used a risk model to compare and analyze about the risk between two groups. The risk model is developed to apply together two variables which is accidents frequency and severity. Then it is used a conceptual weight to find that proper rate between accident frequency and fatal accident frequency. It is found a weight($\omega=0.6$) to suitable value to apply a risk model. The results showed that collision with obstacles, angle collision($90^{\circ}$) types to novice driver group have bigger risk than experienced driver group.

• International Journal of Internet, Broadcasting and Communication
• /
• v.15 no.1
• /
• pp.140-144
• /
• 2023

In recent years, there are so many serious crashes involving coaches, especially the frontal collision occupies 40% of the front of the vehicle, Frontal collisions account for 100% of the front of the vehicle affecting the driver and side-impact collisions that injure the person in the vehicle. Therefore, the research into improving and optimizing the structure is necessary for risk of injury for passengers in frontal accidents. In this paper, we have designed a Shock absorber that can absorb collision energy. Research using HYPERMESH software. to build the finite element model and calculate the meshing to suit the mesh size of 5mm. apply LS-DYNA software to calculate structural strength. In the study, for a vehicle to collide with a hard obstacle occupying 100% of the head of the vehicle. Then, the experimental design method, Minitab is used for find the structural parameters in the design. Improvement results showed that the acceleration of the impact on passengers and the driver is decreased by 55,17%. The mass of texture improvements is reduced by 11%, according to the requirements of European Standards ECE R94.

• Proceedings of KOSOMES biannual meeting
• /
• 2001.10a
• /
• pp.81-97
• /
• 2001

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.42 no.8
• /
• pp.661-673
• /
• 2014

In this paper, a precise orbit determination process was carried out based on KARISMA(KARI Collision Risk Management System) developed by KARI(Korea Aerospace Research Institute), in which optical tracking data of a geostationary satellite was used. The real optical tracking data provided by ESA(European Space Agency) for the ARTEMIS geostationary satellite was used. And orbit determination error was approximately 420 m compared to that of the ESA's orbit determination result from the same optical tracking data. In addition, orbit prediction was conducted based on the orbit determination result with optical tracking data for 4 days, and the position error for the orbit prediction during 3 days was approximately 500~600 m compared to that of ESA's result. These results imply that the performance of the KARISMA's orbit determination function is suitable to apply to the collision risk assessment for the space debris.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2011.10a
• /
• pp.487-488
• /
• 2011

As the increase in maritime traffic and leisure, the marine accident risk has increased in the domestic coast. In this paper, we propose how to analysis for risk of collision between a small vessel and to close multiple vessels or obstacles using fuzzy logic in maritime. the speed of aboard vessel, the number of obstacle within radius 1km and the number of obstacle within 15 degrees left and right are considered as fuzzy sets.

• Journal of Advanced Navigation Technology
• /
• v.27 no.4
• /
• pp.356-364
• /
• 2023

Sophisticated Air Navigation System has contributed to enhancing the capacity of airspace capacity, leading to an efficient airspace environment. However, it has acted as a factor increasing the probability of collision. When an aircraft fails to maintain vertical separation and instead exhibits lateral positional errors, it does not necessarily lead to a collision. However, as the lateral positional accuracy increases, the randomness of aircraft positions decrease, resulting in an elevated probability of collisions. Consequently, The International Civil Aviation Organization has introduced Strategic Lateral Offset Procedures(SLOP), intentionally deviating aircraft from the centerline of airways. Likewise, South Korea also operates Offset procedure. The Y579 was operated using the Offset before its conversion to a dual airway and the analysis of the Offset track revealed that it was being operated similarly to a unidirectional dual airway. This paper develops a safety assessment methodology applicable to unidirectional dual airways, and applies it to perform a safety assessment of the Y579 Offset procedure.

• Journal of KIISE:Software and Applications
• /
• v.34 no.3
• /
• pp.235-245
• /
• 2007

UUV(Unmanned Underwater Vehicle) should possess an intelligent control software performing intellectual faculties such as cognition, decision and action which are parts of domain expert's ability, because unmanned underwater robot navigates in the hazardous environment where human being can not access directly. In this paper, we suggest a RVC intelligent system architecture which is generally available for unmanned vehicle and develope an autonomous navigation system for UUV, which consists of collision avoidance system, path planning system, and collision-risk computation system. We present an obstacle avoidance algorithm using fuzzy relational products for the collision avoidance system, which guarantees the safety and optimality in view of traversing path. Also, we present a new path-planning algorithm using poly-line for the path planning system. In order to verify the performance of suggested autonomous navigation system, we develop a simulation system, which consists of environment manager, object, and 3-D viewer.

• Aerospace Engineering and Technology
• /
• v.12 no.2
• /
• pp.123-130
• /
• 2013

Many countries tried to design the collision risk management system to protect their own satellites from collision probability due to the space debris. In this situation, KARI(Korea Aerospace Research Institute) is developing the KARISMA(KARI Conjunction Risk Management System) to protect our operating satellites from these space debris. The quality of this system is depending on the accuracy of orbit determination for the space debris which has collision risk. Therefore, this system must treat many kinds of measurement data types to estimate the orbit of space debris. In this paper, to handle the radar observation data widely used for these space debris, the orbit determination system was applied with simulated radar tracking data for the KOMSAT-2 which has precise orbit determination data.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.9 no.4
• /
• pp.169-176
• /
• 2005

An analysis of the annual frequency of collapse(AF) is performed for each bridge pier exposed to ship collision. From this analysis, the impact lateral resistance can be determined for each pier. The bridge pier impact resistance is selected using a probability-based analysis procedure in which the predicted annual frequency of bridge collapse, AF, from the ship collision risk assessment is compared to an acceptance criterion. The analysis procedure is an iterative process in which a trial impact resistance is selected for a bridge component and a computed AF is compared to the acceptance criterion, and revisions to the analysis variables are made as necessary to achieve compliance. The distribution of the AF acceptance criterion among the exposed piers is generally based on the designer's judgment. In this study, the acceptance criterion is allocated to each pier using allocation weights based on the previous predictions.