• IEMEK Journal of Embedded Systems and Applications
• /
• v.13 no.2
• /
• pp.65-71
• /
• 2018

In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.48 no.11
• /
• pp.1457-1463
• /
• 1999

This paper develops an real-time expert system for the electronic interlocking system. it obtains the higher safety by determining the railway interlocking strategy in order to prevent trains from colliding, and derailing in the viewpoint of veteran expert, considering the situation of station in real-time. The expert system determines the real-time interlocking strategy by confirming the interlocking relationships among signal facilities based on the interlocking knowledge base from input information such as signal, points, and it is implemented as the rule-based system in order to represented accurately and effectively the interlocking relationships. Especially in case of emergency the function which determines the rational route coordinating with IIKBAG on the workstation is designed in order to minimize the spreading effect. It is implemented in C computer language for the purpose of the implementation of the inference engine using the dynamic memory allocation technique, the build and interface of the station structure database. And, the validity of the built expert system is proved by simulating the diversity cases which may occur in the real system for the typical station model.

• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.6
• /
• pp.379-388
• /
• 2018

In this study, we propose a new approach to impliment autonomous travelling of mobile robot based on obstacle avoidance and voice command. Obstacle Avoidance technology of mobile robpot. It has been used in wide range of different robotics areas to minimize the risk of collisions. Obstacle avoidance of mobile robots are mostly applied in transportation systems such as aircraft traffic control, autonomous cars etc. Collision avoidance is a important requirement in mobile robot systems where they all featured some kind of obstacle detection techniques in order to avoid colliding. In this paper it was illustrated the reliability of voice command and obstacle avoidance for autonomous travelling of mobile robot with two wheels as the purpose of application to the manufacturing process by simulation and experiments.

• Journal of Ocean Engineering and Technology
• /
• v.33 no.5
• /
• pp.411-420
• /
• 2019

It is essential to design crashworthy marine structures for operations in Arctic regions, especially ice-covered waters, where the structures must have sufficient capacity to resist iceberg impact. In this study, a numerical analysis of a colliding accident between an iceberg and stiffened plates was carried out employing the commercial finite element code ABAQUS/Explicit. The ice material model developed by Liu et al. (2011) was implemented in the simulations, and its availability was verified by performing some numerical simulations. The influence of the ambient temperature on the structural resistance was evaluated while the local stress, plastic strain, and strain energy density in the structure members were addressed. The present study revealed the risk of fracture in terms of steel embrittlement induced by ambient temperature. As a result, the need to consider the possibility of brittle failure in a plate-stiffener junction during operations in Arctic regions is acknowledged. Further experimental work to understand the structural behavior in a plate-stiffener junction and HAZ is required.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2013.05a
• /
• pp.476-477
• /
• 2013

Gadget-2 is a scientific simulation code has been used for many different types of simulations like, Colliding Galaxies, Cluster Formation and the popular Millennium Simulation. The code is parallelized with Message Passing Interface (MPI) and is written in C language. There is also a Java adaptation of the original code written using MPJ Express called Java Gadget. Java Gadget writes a lot of checkpoint data which may or may not use the HDF-5 file format. Since, HDF-5 is MPI-IO compliant, we can use our MPJ-IO library to perform parallel reading and writing of the checkpoint files and improve I/O performance. Additionally, to add reliability to the code execution, we propose the usage of Hadoop Distributed File System (HDFS) for writing the intermediate (checkpoint files) and final data (output files). The current code writes and reads the input, output and checkpoint files sequentially which can easily become bottleneck for large scale simulations. In this paper, we propose Sim-Hadoop, a framework to leverage HDFS and MPJ-IO for improving the I/O performance of Java Gadget code.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.30 no.2
• /
• pp.34-43
• /
• 2022

In Efforts to prevent CFIT accidents so far, have been emphasizing various education measures to minimize the occurrence of human errors, as well as enforcement measures. However, current engineering measures remain in a system (TAWS) that gives warnings before colliding with ground or obstacles, and even actual automatic avoidance maneuvers are not implemented, which has limitations that cannot prevent accidents caused by human error. Currently, various attempts are being made to apply machine learning-based artificial intelligence agent technologies to the aviation safety field. In this paper, we propose a deep reinforcement learning-based artificial intelligence agent that can recognize CFIT situations and control aircraft to avoid them in the simulation environment. It also describes the composition of the learning environment, process, and results, and finally the experimental results using the learned agent. In the future, if the results of this study are expanded to learn the horizontal and vertical terrain radar detection information and camera image information of radar in addition to the terrain database, it is expected that it will become an agent capable of performing more robust CFIT autonomous avoidance.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.21 no.8
• /
• pp.43-52
• /
• 2022

The vibration characteristics of a hammer press are important parameters for machine design and production control. In this study, a counterblow hammer press was mathematically modelled as a mass-spring-damper system in order to analyze its vibration characteristics. The forging efficiency was theoretically derived as a function of the mass ratio, momentum ratio, and the coefficient of restitution And the effects of the mass ratio, momentum ratio and the restitution coefficient on the forging efficiency were also investigated for two particular cases of the unit mass ratio and unit momentum ratio. Additionally, the vibration responses of the counterblow hammer press due to the ram colliding impact were analyzed, and the force transmitted to the foundation through the mounting unit was determined.

• Steel and Composite Structures
• /
• v.46 no.5
• /
• pp.673-687
• /
• 2023

In this study, the weight and the connections type layout of low-rise eccentrically braced frame (EBF) have been optimized based on performance-based design method. For this purpose, two objective functions were defined based on two different aspects on rigid connections, in one of which minimization and in the other one, maximization of the number of rigid connections was considered. These two objective functions seek to increase the area under the pushover curve, in addition to the reduction of the weight and selection of the optimum connections type layout. The performance of these objective functions was investigated in optimal design of a three-story eccentrically braced frame, using two meta-heuristic algorithms: Enhanced Colliding Bodies Optimization (ECBO) and Enhanced Vibrating Particles System (EVPS). Then, the reliability indices of the optimal designs for both objective functions were calculated for the story lateral drift limits using Monte-Carlo Simulation (MCS) method. Based on the reliability assessment results of the optimal designs and taking the three levels of safety into account, the final designs were selected and their specifications were compared.

• Journal of Trauma and Injury
• /
• v.35 no.4
• /
• pp.232-239
• /
• 2022

Purpose: The recent increase in electric scooter (e-scooter) use has been accompanied by an increase in injuries from e-scooter-related accidents. Studies have reported that most such injuries are minor, and physicians may therefore underestimate the severity of such injuries. This study investigated the types and severity of injuries caused by isolated e-scooter accidents (i.e., those that did not involve colliding with other cars or falling from heights). Methods: This prospective observational study was conducted from May to December 2021 at Dankook University Hospital tertiary medical center. The demographic data of patients injured in isolated e-scooter-related accidents were collected. All injuries were categorized by body part. Results: Fifty eligible patients visited our emergency department during the study period. Of these, 76% were categorized as nonemergency, and 62% were discharged after initial evaluation and treatment at the emergency department. Another 10% were admitted to the intensive care unit (ICU) and 18% to the ward, with nine patients receiving at least one operation. The average hospital stays were 2.4 days in the ICU and 9 days in the ward. One death occurred due to traumatic brain injury (overall mortality rate, 2%). Multiple fractures of the left third through ninth ribs combined with lung laceration and fractures of T12 and L4 were noted. Conclusions: Various types and severities of injuries can occur in isolated e-scooter accidents. While most such injuries are minor, some will require ICU admission or surgery, and deaths can occur. Physicians should not underestimate the severity of such injuries.

• Journal of the Korean Society of Safety
• /
• v.38 no.3
• /
• pp.1-9
• /
• 2023

Most existing industrial robots have fences installed around them to ensure safety. However, industrial sites are recently being transformed into workspaces shared by both robots and humans working cooperatively, wherein the robots are without security fencing owing to the development of sensor technology. However, in the last five years (2017-2021), 16 deaths have occurred due to robots at industrial sites, with the main cause of the accidents being workers approaching an industrial robot in operation and getting entangled with or colliding into the robot and its peripherals. To prevent such accidents, multilateral research is needed. To this end, this study analyzes the nonconforming contents of safety inspections for industrial robots and demonstrates the safety performance of the safety function control system implemented in an industrial robot cell. In addition, to ensure the fundamental safety of industrial robots, this study proposes the introduction of a safety certification system so that safety functions can be implemented in the design, manufacturing, and installation stages of the robots.