• 제어로봇시스템학회논문지
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• 제18권9호
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• pp.830-836
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• 2012

According to increasing the importance of underwater environments, the needs of UUV are growing. This paper represents the mechanism and algorithm of UUV docking system with 21-inch torpedo tubes for military submarines as a docking station. To improve the reliability of the docking, torpedo tubes launch a wired ROV and next the ROV combined with UUV is retrieved. For estimating the relative position between the ROV and UUV, in this paper, combining RF sensors and vision system is proposed. The RSSI method of RF sensors is used to estimate the distance and the optical image is combined for the directional information.

• 한국해양공학회지
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• 제36권3호
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• pp.181-193
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• 2022

This study presents a mission management technique that is a key component of underwater docking system used to expand the operating range of autonomous underwater vehicle (AUV). We analyzed the docking scenario and AUV operating environment, defining the feasible initial area (FIA) level, event level, and global path (GP) command to improve the rate of docking success and AUV safety. Non-holonomic constraints, mounted sensor characteristic, AUV and mission state, and AUV behavior were considered. Using AUV and docking station, we conducted experiments on land and at sea. The first test was conducted on land to prevent loss and damage of the AUV and verify stability and interconnection with other algorithms; it performed well in normal and abnormal situations. Subsequently, we attempted to dock under the sea and verified its performance; it also worked well in a sea environment. In this study, we presented the mission management technique and showed its performance. We demonstrated AUV docking with this algorithm and verified that the rate of docking success was higher compared to those obtained in other studies.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.219-225
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• 2000

The major movement block of the containers have range between apron and designation points on yard in container terminal. The yard tractor operated by human takes charge of its movement in conventional container terminal. In automated container terminal, AGV(Automated Guided Vehicle) has charge of the yard tractor's role and the navigation path is ordered from upper level control system. The automated container terminal facilities must have the docking system to guide landing line to have high speed travelling and precision positioning. The general method for docking system uses the vision system with CCD camera, infra red, and laser. This paper describes the detection of AGV's position and orientation using laser slit beam to develop docking system.

• 대한안전경영과학회지
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• 제10권4호
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• pp.199-207
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• 2008

Many logistics enterprises have made efforts to achieve low costly and high efficient logistics network. The cross-docking system can be a good solution for them. However, it requires tight schedule and all-night operation inevitably for realization of ideal cross-docking. These causes the difficulty of the attainment of daily delivery target and the leave of delivery service persons. In this paper, we develop the line-haul and shuttle service compromised cross-docking model in order to solve the problems practically. We apply the storage process with the cross-docking system and the direct cross-docking between line-haul and shuttle services. The simulation model validates the shorter delivery time by the developed model than the present model.

• 센서학회지
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• 제26권3호
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• pp.199-203
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• 2017

In this paper, we developed an underwater localization system for underwater robot docking using the electromagnetic wave attenuation model. Electromagnetic waves are generally known to be impossible to use in water environment. However, according to the conclusions of the previous studies on the attenuation characteristics in underwater, the attenuation pattern is uniform and its model was accurately proposed and verified in 3-dimensional space via the omnidirectional antenna. In this paper, a docking structure and localization sensor system are developed for a widely used cone type docking mechanism. First, we fabricated electromagnetic wave range sensor transmit modules. And a mobile sensor node is equipped with unmanned underwater vehicle(UUV)s. The mobile node senses the four different signal strength (RSS: Received Signal Strength) from fixed nodes, and the obtained RSS data are transformed to each distance information using the 3-Dimensional EM wave attenuation model. Then, the relative localization between the docking area and underwater robot can be achieved according to optimization algorithm. Finally, experimental results show the feasibility of the proposed localization system for the docking induction by comparing the errors in the actual position of the mobile node and the theoretical position through the model.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제6권4호
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• pp.217-222
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• 2017

본 연구에서는 사람을 대신하여 험난한 지형에서 위험작업을 수행이 가능한 지상로봇과 짧은 시간 안에 원거리 비행이 가능한 드론과의 결합을 통해 위험 상황에서의 효과적인 협업이 가능한 시스템을 구현하였다. 최근 관련 연구는 드론을 수용할 수 있는 무인지상차량이나 4족 로봇에 관한 연구가 있었으나 전체 가용 시간의 장점에 비해 대규모 로봇을 필요로 하여 현장에서 적용하기엔 어려움이 있었다. 본 논문에서는 경량 드론에 장착된 임베디드 웹캠과 영상처리 알고리즘을 사용하여 객체의 한 유형인 마커를 Canny Edge 알고리즘 및 특정한 Template matching 방법을 통하여 비행 중 실시간 검출한 결과를 보여주며, 지상로봇위에 표시된 마커의 2차원적 위치 정보 획득과 레이저 센서를 이용한 상대거리 확보를 융합하여 지상로봇과 드론간의 도킹을 구현하는 시스템을 제안하였다. 실험을 통하여 제안된 시스템은 50회의 도킹 시도에서 95%의 도킹 성공률을 보였으며 6가지의 Template mateching 방법 중 시스템에 적용할 수 있는 2가지의 템플릿 매치 방법을 제시하였다.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 2006년도 춘계공동학술대회 논문집
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• pp.1754-1757
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• 2006

Recently many firms operate a cross-docking center in addition to run a distribution center to reduce logistics costs and maintain or enhance logistics service. However, it is true that many firms just operate their cross-docking centers as they are without any change, in spite of that the location of the cross-docking center should be changed and operated when the location of distribution center is changed and moved. This study presents the method that re-selects the location of the cross-docking center when the existing distribution center is changed. Describing the operation environment to apply the cross-docking system and the selection criteria of the cross-docking center under the environment of changeable logistics network, we define the simulation model which can analyze and select the location of the cross-docking center applied to a logistics field. The simulation model presents experiential algorithm selecting the location with the data of the demand point such as volume, transportation costs, and delivery distance.

• International Journal of Aeronautical and Space Sciences
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• 제12권1호
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• pp.43-56
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• 2011

An integrated system composed of guidance, navigation and control (GNC) system for autonomous proximity operations and the docking of two spacecraft was developed. The position maneuvers were determined through the integration of the state-dependent Riccati equation formulated from nonlinear relative motion dynamics and relative navigation using rendezvous laser vision (Lidar) and a vision sensor system. In the vision sensor system, a switch between sensors was made along the approach phase in order to provide continuously effective navigation. As an extension of the rendezvous laser vision system, an automated terminal guidance scheme based on the Clohessy-Wiltshire state transition matrix was used to formulate a "V-bar hopping approach" reference trajectory. A proximity operations strategy was then adapted from the approach strategy used with the automated transfer vehicle. The attitude maneuvers, determined from a linear quadratic Gaussian-type control including quaternion based attitude estimation using star trackers or a vision sensor system, provided precise attitude control and robustness under uncertainties in the moments of inertia and external disturbances. These functions were then integrated into an autonomous GNC system that can perform proximity operations and meet all conditions for successful docking. A six-degree of freedom simulation was used to demonstrate the effectiveness of the integrated system.

• 한국콘텐츠학회논문지
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• 제8권12호
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• pp.441-448
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• 2008

분자 도킹 실험은 일반적으로 계산 량이 매우 많아 슈퍼 컴퓨팅 파워를 요구하는 실험이다. 따라서 시간이 많이 소요되기 때문에 일반적으로 CPU가 탑재된 컴퓨터를 여러 대 묶어서 사용하는 분산 환경 혹은 그리드 환경에서 실험을 수행하고 있다. 이와 같은 실험 환경은 시간적, 공간적 제약성이 많아 일반적으로 과학자들이 접근하기가 어렵다. 그래서 근래에는 많은 CPU를 사용하기 보다는 월등히 성능이 높은 GPU를 병렬 화하여 과학 분야에 계산하는 연구가 매우 활발히 이루어지고 있는 추세이다. CUDA는 병렬 GPU 프로그래밍을 가능하게 하는 공개 기술이다. 본 논문에서는 이러한 CUDA 기술을 사용하여 분자 도킹 실험을 할 수 있는 시스템을 제안한다. 또한, 분자 도킹 실험에 있어서 중요한 에너지 최소화 계산을 병렬 화하는 알고리즘을 제안한다. 이와 같은 실험을 검증하기 위해 본 논문에서는 일반적인 CPU에서 분자 도킹 실험 시간과 본 논문에서 제안한 병렬 CPU 기반의 분자 도킹 시간을 비교 분석 하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.335-338
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• 2006

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI Ocean Engineering Water Tank. As AUV ISIMI approachs the docking device, it is presented that attitude is unstable, because the lights Which is on Image Frame are disappeared. So we fix the rudder and stem, if the lights on Image Frame are reaching the specific area in the Image Frame. In this paper, we intend to solve the problems that were found in the testing, which, first, will be identified via simulation.