• International Journal of Control, Automation, and Systems
• /
• 제4권1호
• /
• pp.77-86
• /
• 2006

A new method in robot path generation is presented using an analysis of the characteristics of multi-robot collision avoidance. The research is based on the concept of the collision map, where the collision between two robots is presented by a collision region and a crossing curve TLVSTC (traveled length versus servo time curve). Analytic collision avoidance is considered by translating the collision region in the collision map. The 4 different translations of collision regions correspond to the 4 parallel movements of the actual original robot path in the real world. This analysis is applied to path modifications where the analysis of collision characteristics is crucial and the resultant path for collision avoidance is generated. Also, the correlations between the translations of the collision region and robot paths are clarified by analyzing the collision/non-collision areas. The influence of the changes of robot velocity is investigated analytically in view of collision avoidance as an example.

• 한국항만학회지
• /
• 제14권2호
• /
• pp.219-231
• /
• 2000

In this paper a complicated structural behavior in collision and its effects of energy translation to the collision bulkhead was examined through a methodology of the numerical simulation to obtain a ideal bow construction and a location of collision bulkhead against head on collision. In the present the bow structure is normally designed in consideration of its specific structural arrangements and internal and external loads in these area such as hydrostatic and dynamic pressure, wave impact and bottom slamming in accordance with the Classification rules, and the specific location of collision bulkhead by SOLAS requirement. By these studies the behavior of the bow collapse due to collision was synthetically evaluated for the different size of tankers and its operational speed limits, and by the results of these simulation it provides the optimal design concept for the bow construction to prevent the subsequent plastic deformation onto or near to the collision bulkhead boundary and to determine the rational location of collision bulkhead.

• 한국해양공학회지
• /
• 제38권3호
• /
• pp.124-136
• /
• 2024

As the number of offshore wind-power installations increases, collision accidents with vessels occur more frequently. This study investigates the risk of collision damage with operating vessels that may occur during the operation of an offshore wind turbine. The floater used in the collision study is a 15 MW UMaine VolturnUS-S (semi-submersible type), and the colliding ships are selected as multi-purpose vessels, service operation vessels, or anchor-handling tug ships based on their operational purpose. Collision analysis is performed using ABAQUS and substantiation is performed via a drop impact test. The collision analyses are conducted by varying the ship velocity, displacement, collision angle, and ship shape. By applying this numerical model, the extent of damage and deformation of the collision area is confirmed. The analysis results show that a vessel with a bulbous bow can cause flooding, depending on the collision conditions. For damage caused by collision, various collision angles must be considered based on the internal stiffener arrangement. Additionally, the floater can be flooded with relatively small collision energy when the colliding vessel has a bulbous bow.

• 한국해양공학회지
• /
• 제14권2호
• /
• pp.28-35
• /
• 2000

In this paper a complicated structural behavior in collision and its effect of energy transmission to the collision bulkhead was examined through a methodology of the numerical simulation to obtain a ideal bow construction and a location of collision bulkhead against heat on collision. At present the bow structure is normally designed in consideration of its specific structural arrangement and internal and external loads in these areas such as hydrostatic and dynamic pressure wave impact and bottom slamming in accordance with the Classification rules and the specific location of collision bulkhead by SOLAS requirement. By these studies the behavior of the bow collapse due to collision was synthetically evaluated for the different size of tankers and its operational speed limits and by the results of these simulation it provides the optimal design concept for the bow construction to prevent the subsequent plastic deformation onto or near to the collision bulkhead boundary and to determine the rational location of collision bulkhead.

• 한국해양공학회:학술대회논문집
• /
• 한국해양공학회 2000년도 춘계학술대회 논문집
• /
• pp.195-204
• /
• 2000

In this paper a complicated structural behavior in collision and its effect of energy translation to the collision bulkhead was examined through a methodology of the numerical simulation to obtain a ideal bow construction and a location of collision bulkhead against head on collision. In the present the bow structure is normally designed in consideration of its specific structural arrangements and internal and external loads in these area such as hydrostatic and dynamic pressure, wave impact and bottom slamming in accordance with the Classification rules, and the specific location of collision bulkhead by SOLAS requirement. By these studies the behavior of the bow collapse due to collision was synthetically evaluated for the different size of tankers and its operational speed limits, and by the result of these simulation it provides the optimal design concept for the low construction to prevent the subsequent plastic deformation onto or near to the collision bulkhead boundary and to determine the rational location of collision bulkhead.

• 한국자동차공학회논문집
• /
• 제16권1호
• /
• pp.52-63
• /
• 2008

The side collision reconstruction algorithm is developed using three dimensional car crash analysis. Medium size passenger car is modeled for finite element analysis. Total 24 side collision configurations, four different speed and six different angle, are set up for making side collision database. Deformation index and degree index are built up for each collision case. Deformation index is a kind of deformation estimate averaging displacement of side door of crashed car from finite element analysis result. Angle index is constructed measuring deformed angle of crashing car. There are two kinds of angle index, one is measured at driver's side and the other is measured at passenger's side. Also a collision analysis information in side of cars is used for giving a basis for scientific and practical reason in a reconstruction of the car accident. The analysis program, LS-DYNA3D is utilized for finite element analysis program for a collision analysis. Those database are used for side collision reconstruction. Side collision reconstruction algorithm is developed, and applied to find the collision conditions before the accident occurs. Three example collision cases are tried to check the effectiveness of the algorithm. Deformation index and angle index is extracted for the case from the analysis result. Deformation index is compared to the established database, and estimated collision speed and angle are introduced by interpolation function. Angle index is used to select a specific collision condition from the several available conditions. The collision condition found by reconstruction algorithm shows good match with original condition within 10% error for speed and angle. As a result, the calculation from the reconstruction of the situation is reproducing the situation well. The performance in this study can be used in many ways for practical field using deformation index and degree index. Other different collision situations may be set up for extending the scope of this study in the future.

• 한국자동차공학회논문집
• /
• 제17권2호
• /
• pp.49-56
• /
• 2009

In this study, a side collision accident reconstruction using database based on the deformed shape information from the collision test using model cars is suggested. A deformation index and angle index related to the deformed shape is developed to set the database for the collision accident reconstruction algorithm. Two small size RC cars are developed to carry out the side collision test. Several side collision tests according to the velocity and collision angles are performed for establishing the side collision database. A high speed camera with 1000fps is used to capture the motion of the car. A side collision accident reconstruction algorithm is developed and applied to find the collision conditions before the accident occurs. Two collision cases are tested to validate the database and the algorithm. The results obtained by the reconstruction algorithm show good match with original conditions with regard to the velocity and angle.

• 한국통신학회논문지
• /
• 제36권3B호
• /
• pp.248-253
• /
• 2011

선박의 충돌회피 알고리즘은 인적 요인에 의한 해난사고를 방지하고, 보다 효과적이고 안전한 운항을 위해 개발되어 왔다. 본 논문에서는 충돌사고의 위험성을 줄이고, 안전운항을 지원하기 위하여, 베이지안 추정 이론을 이용하여 충돌 위험도를 추정하는 알고리즘을 고안한다. 기존의 선박 충돌 회피를 시스템보다 안전한 충돌 회피를 위해서 베이지안 추정 이론을 이용하여 충돌 위험도를 계산하고 일정 시간 이후에 타선들의 위치 및 속도정보와 자선의 위치 및 속도정보를 이용하여 충돌 위험도를 예측함으로써 보다 안전하고 효율적인 충돌 위험도를 결정한다. 본 논문에서 타선박의 항해정보는 AIS 정보를 가정하였고, 기존의 DCPA와 TCPA를 이용한 퍼지 추론 방법보다 효율적으로 충돌 위험도를 추정할 수 있다.

• 한국전산구조공학회논문집
• /
• 제30권6호
• /
• pp.485-493
• /
• 2017

본 연구에서는 LNG 저장시설의 외조를 구성하는 SCP(sandwich concrete panel)에 대한 충돌해석을 수행하고 그 거동을 분석하였다. 설계기준 중 하나인 BS7777에서 제시하는 충돌에너지와 동일한 값을 갖도록 두 종류의 충돌체와 다양한 충돌속도를 이용하여 충돌조건을 구성하고 이에 대한 비선형동적 해석모델을 구성하여 설정된 충돌조건에 대하여 수치해석을 수행하였다. 또한 1차 충돌 후에 동일한 지점에 같은 충돌에너지를 가진 2차 충돌이 일어나는 것을 가정하여 충돌거동을 분석하였다. 해석결과 동일한 충돌에너지를 갖는 충돌에서 충돌체의 크기가 작고, 충돌속도가 작을수록 큰 변형이 발생하는 것으로 나타났다. 충돌에너지는 외측강판과 내부 충진콘트리트가 6:4정도의 비율로 소산시키는 것으로 나타났다. 중복충돌해석에서는 2차 충돌체의 크기에 따라 최종충돌변형이 지배되는 것으로 나타났고 2차 충돌에 의한 변형량은 1차 충돌에 비하여 적은 값을 나타냈는데 이는 강판의 막거동 때문인 것으로 분석되었다. 이격된 중복충돌에서는 이격위치와 관계없이 2차 충돌점에서 가장 큰 변형이 발생하는 것으로 나타났다.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2001년도 Proceeding of KIN-CIN Joint Symposium 2001 on Satellite Navigation/AIS, lntelligence , Computer Based Marine Simulation System and VDR
• /
• pp.114-119
• /
• 2001

Based on tole investigation on mariner’s behaviors in collision avoidance, actuality of collision avoidance at sea and the research on the uncertainty of collision avoidance behaviors adopted by two encounter vessels, and for the purpose to reduce the no-coordination action of collision avoidance between two encounter vessels, and on the base of different encounter situation in international convention for preventing collisions at sea, the concept of action situation between tee encounter vessels is proposed, and the directions for every encounter vessel to adopt course alteration to avoid collision are explained in different action situation. The mechanism of avoidance and reduction of no-coordination is established in intelligent collision avoidance system, and it is important id research on intelligent collision avoidance system.