• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.5
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• pp.563-571
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• 2018

In order to effectively protect a penetrator, the conically shaped protector was proposed and the protection capability was investigated. The collision and penetration of the penetrator with the protector were analyzed using dynamic finite element analysis. The post impact behaviors of the penetrator, i.e., flying velocity and the change of attitude angle, were monitored to investigate the protection capability. The flying velocity and the attitude angle are used to investigate the deviation and the penetration power respectively. The effect of rotation speed of the protector and the collision position on the protection capability is investigated in the viewpoint of deviation and attitude angle when penetrator colliding with our tank.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.3
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• pp.155-160
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• 2002

This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.05a
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• pp.157-158
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• 2011

Golf clubs hit the ball, and golf balls fly with great speed and long distances due to the conflict. In this paper, the size of the momentum after collision of golf clubs and golf balls should seek. Also, the collision times and average force that served of golf clubs and golf balls are obtained. We know that the impulse acting body is equals the change in momentum of a body. And you can see the average force is constant force that the actual strength of a body to give the same impulse instead of force changing by the hour.

• Journal of Korean Society of Transportation
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• v.25 no.4
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• pp.69-77
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• 2007

This study presents comparison results for pedestrian accident reconstruction models representing the relationship between collision speed and horizontal distance that a body travels while falling and sliding. A set of 49 reliable pedestrian accident cases are applied to compare the existing reconstruction models. In addition, the authors investigate the effects of a set of parameters associated with the effects of the frontal shape of a vehicle on the horizontal distance a pedestrian travels while falling and sliding. It has been revealed that the length of the bumper is the most dominant factor to affect the horizontal distance of pedestrian travel after collision. Further analyses utilizing more accident data need to conducted to develop a more accurate and reliable reconstruction model.

• Journal of Korean Society of Transportation
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• v.23 no.3 s.81
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• pp.49-57
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• 2005

This study developed a methodology for estimating the fatality reduction by introducing technical regulation on pedestrian protection in pedestrian-vehicle collisions. Modeling a probabilistic pedestrian fatality model with logistic regression approach was one of keen interests, which employed in estimating the fatality reduction. Collision speed obtained from the accident reconstruction was used in the model development. The effects of fatality reduction, in case various Head Injury Criterion (HIC) and collision speeds are applied for the regulation. were presented as the major outcome of this study. It is expected that the outcome of this study would be an invaluable tool to assist in developing various technologies and policies for pedestrian protection.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.7
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• pp.69-75
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• 2004

An avoidance/guidance problem of an aircraft against moving obstacle is considered in two dimensional space. The aircraft is modelled as a point mass flying with constant speed. The lateral acceleration is assumed the control input. Artificial potential functions are applied to the terminal point and moving obstacles in order that repulsive forces and an attractive force are produced by the obstacles and the terminal point respectively. A real time guidance/avoidance law is proposed by using the potential forces and relative velocity. The guidance law for a logarithm potential function results the well-known proportional navigation law. The avoidance control command is inverse proportional to the time-to-go to the obstacle and turns the aircraft toward the negative direction of the line-of-sight change. The performance of the proposed guidance/avoidance law is verified with simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.928-933
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• 2012

In this paper, the IR and compass sensors for the underwater system were used. The walls of the water tank have been recognized and avoided treating the walls as obstacles by the bio-mimetic underwater robot. This paper is consists of two parts: 1.The hardware part for the IR and compass sensors and 2.The software part for obstacle avoidance algorithm while the bio-mimetic robot is swimming with the obstacle recognition. Firstly, the hardware part controls through the RS-485 communications between a microcontroller and the bio-mimetic underwater robot. The software part is simulated for obstacle recognition and collision avoidance based upon the data from IR and compass sensors. Actually, the bio-mimetic underwater robot recognizes where is the obstacle as well as where is the bio-mimetic robot itself while it is moving in the water. While the underwater robot is moving at a constant speed recognizing the wall of water tank as an obstacle, an obstacle avoidance algorithm is applied for the wall following swimming based upon the IR and compass sensor data. As the results of this research, it is concluded that the bio-mimetic underwater robot can follow the wall of the water tank efficiently, while it is avoiding collision to the wall.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.6
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• pp.603-608
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• 2014

In the maritime traffic environment, the near-miss between vessels is the situation approaching on collision course but collision accident is not occurred. In this study, in order to calculate the near-miss between navigating vessels, the discriminating equation using ship bumper theory and vessel position clustering methods are proposed. Applying proposed module to the vessel trajectories of the WANDO waterway, we assessment navigational risk factors of vessel type, navigational speed, meeting situation.

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

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2456-2458
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• 2003

Recently, an automatic crane control system is required with high speed and rapid transportation. Therefore, when container is transferred from the initial coordinate to the finial coordinate, the container paths should be built in terms of the least time and without sway. Therefore, we calculated the anti-collision path for avoiding collision in its movement to the finial coordinate in this paper. And we constructed the neural network predictive two degree of freedom PID (NNPPID) controller to control the precise navigation. The proposed Predictive control system is composed of the neural network predictor, two degree of freedom PID(TDOFPID) controller, neural network self-tuner which yields parameters of TDOFPID. We analyzed crane system through simulation, and proved excellency of control performance over the conventional controllers.