• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.26 no.1A
• /
• pp.11-19
• /
• 2006

In this study ship collision risk analysis is performed to determine the design vessel for collision impact analysis of suspension bridge. Method II in AASHTO LRFD bridge design specifications which is a more complicated probability based analysis procedure is used to select the design vessel for collision impact. From the assessment of ship collision risk for each bridge pier exposed to ship collision, the design impact lateral strength of bridge pier is determined. The analysis procedure is an iterative process in which a trial impact resistance is selected for a bridge component and a computed annual frequency of collapse(AF) is compared to the acceptance criterion, and revisions to the analysis variables are made as necessary to achieve compliance. The acceptance criterion is allocated to each pier using allocation weights based on the previous predictions. This AF allocation method is compared to the pylon concentration allocation method to obtain safety and economy in results. This method seems to be more reasonable than the pylon concentration allocation method because AF allocation by weights takes the design parameter characteristics quantitatively into consideration although the pylon concentration allocation method brings more economical results when the overestimated design collision strength of piers compared to the strength of pylon is moderately modified. The design vessel for each pier corresponding with the design impact lateral strength obtained from the ship collision risk assessment is then selected. The design impact lateral strength can vary greatly among the components of the same bridge, depending upon the waterway geometry, available water depth, bridge geometry, and vessel traffic characteristics. Therefore more researches on the allocation model of AF and the selection of design vessel are required.

• Journal of Navigation and Port Research
• /
• v.34 no.2
• /
• pp.105-110
• /
• 2010

The studies on automatic ship collision avoidance system, which have been carried out in the last 10 years, are facing on new situation due to newly developed high technology such as computer and other information system. It was almost impossible to make it used in real navigation field 3-4 years ago because of the absence of any tool to give other ship's information, however recently developed technology suggests new possibility. This study is carried out to develop the automatic ship collision avoidance support system which considers ship's manoeuvrability into it's collision avoidance algorithm. One of the important part in ship collision avoidance system is collision decision module which can calculate collision risk with other ships and act properly to avoid the situation. Many of previous researches are using present ship's dynamic data such as present speed, position and course to calculate collision risk. However when a ship commences avoidance action, the real situation is quite different with one that has been estimated by the ship's initial data due to the ship's manoeuvring characteristic. Therefore it is better to take into account ship's manoeuvring characteristic from the stage of collision decision in ship collision avoidance system. In this study, these effects are included in the developed system. The proposed system are verified its usefulness in numerical simulation environments.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.28 no.7
• /
• pp.1111-1119
• /
• 2022

Tourism projects through islands in the waters of Sinan-gun became active, and as a result, a total of 13 marine bridges connecting islands were completed. However, the marine bridge constructed in the fairway is dangerous for traffic. Particularly, in the case of the marine bridge connecting two islands, the width of the fairway is extremely narrow, therefore the risk is higher. In this study, we evaluated the risk of collision between marine bridge piers and ships using the IALA Waterway Risk Assessment Program (IWRAP), a risk assessment model for port waterways, based on a maritime traffic survey on the coastal bridge in Sinan-gun. The results, indicated that No.1 Sinan bridge had the highest probability of collision and most of the transit ships were coastal passenger ships. In addition, No.1 Sinan bridge was the place where the most collision accidents occurred among the marine bridge piers in the target sea, and the cause this study was analyzed. An analysis of the satellite images of the sea environment of No.1 Sinan bridge using an image processing method, confirmed that obstacles that could not be seen in the chart existed nearby the bridge. As a result, traffic was observed to be concentrated in one direction, unlike two-way traffic, which is a method of inducing traffic of bridges to avoid obstacles. The risk cause analysis method using the image processing technique of this study is expected to be used as a basic research method for analyzing the risk factors of island bridge in the future.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.29 no.1
• /
• pp.77-83
• /
• 2005

In collision avoidance problem of a ship, collision risk model is usually set up using the interview results fron experts who sit on a simulator by varying parameters, in which DCPA and TCPA are commonly used. This method, however, has the weakness in that not only it is expensive but also it shows different results depending on the inerviewees and other navigational parameters. In this study, a fuzzy inference system is designed based on own ship's maneuverability verified fron simulation instead of interviewing navigators. The time and distance corresponding to the collision risk value on which avoidance maneuver should be started are set to the minimum marginal time at which own ship starts maneuvering and the minimum marginal distance suggested by marine traffic rules respectively. This system can be recorfigured as a nonlinearity-strengthened one by increasing the number of fuzzy membership functions.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2011.06a
• /
• pp.79-80
• /
• 2011

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.22 no.3
• /
• pp.259-267
• /
• 2016

The study performs a risk analysis on container ship accidents using accident data collected over the six years from 2006 to 2011, presents the resulting risk level, and suggests three risk mitigation measures to reduce the overall risk, for the safer operation of container ships. More specifically, starting from the initial accident of collision, we developed 13 different accident scenarios using event tree analysis based on which the overall risk level was obtained and presented as a FN curve. Since diverse human factors are the main cause of most of the ship accidents, our study focuses on the effect of reducing human causes on the resulting risk level. For the research we considered the injuries for the calculation of fatality with the help of MAIS. The results show that collision was the main type of accident, accounting for 62 % of all accidents, and the measures employed were proven to be effective in the sense that the risk level was much lowered and the average number of fatalities was also reduced. With more data accumulated, more precise risk level will be calculated with which the practical risk mitigating measures will be also developed. For future study, economic loss and environmental damage as consequences need to be considered.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.16 no.8
• /
• pp.1693-1700
• /
• 2012

Recently, the warning system to aid drivers for safe driving is being developed. The system estimates the distance between the driver's car and the car before it and informs him of safety distance. In this paper, we designed and implemented the collision warning system which detects the car in front on the actual road situation and measures the distance between the cars in order to detect the risk situation for collision and inform the driver of the risk of collision. First of all, using the forward-looking camera, it extracts the interest area corresponding to the road and the cars from the image photographed from the road. From the interest area, it extracts the object of the car in front through the analysis on the critical value of the shadow of the car in front and then alerts the driver about the risk of collision by calculating the distance from the car in front. Based on the results of detecting driving cars and measuring the distance between cars, the collision warning system was designed and realized. According to the result of applying it in the actual road situation and testing it, it showed very high accuracy; thus, it has been verified that it can cope with safe driving.

• Proceedings of KOSOMES biannual meeting
• /
• 2003.05a
• /
• pp.59-67
• /
• 2003

The prevention of marine accidents has been a major topic in marine society for long time and various safety policies and Countermeasures have been developed and applied to prevent those accidents. In spite of these efforts, however significant marine accidents have taken place intermittently. 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 countermeasures 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 using FSM are performed. 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 the Korean Society of Marine Environment & Safety
• /
• v.9 no.1
• /
• pp.51-56
• /
• 2003

The prevention of marine accidents has been a major topic in marine society for long time and various safety policies and Countermeasures have been developed and applied to prevent those accidents. In spite of these efforts, however significant marine accidents have taken place intermittently. 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 rouses 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 if this study is to propose risk control countermeasures 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 rouses of ship's collision using FSM are performed. 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 to reduce marine accidents.

• The Journal of Korea Robotics Society
• /
• v.17 no.1
• /
• pp.32-39
• /
• 2022

Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.