• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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• pp.139-147
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• 2007

In military transportation, the use of wide trailer for transporting the large and heavy weight equipments such as tank, armoured vehicle, and mobile gunnery is quite common. So, the vulnerability of causing traffic accidents for these wide military trailer to bump or collide with another car in adjacent lane is very high due to its broad width in excess of its own lane's width. Also, the possibility of these strayed accidents can be increased especially by the careless driver. In this paper, the recognition system of lane and vehicle headway direction is developed to detect the possible collision and warn the driver to prevent the fatal accident. In the system development, Kalman filtering is used first to extract the border of driving lane from the video images supplied by the CCD camera attached to the vehicle and the driving lane detection is completed with regression analysis. Next, the vehicle headway direction is recognized by using neural network scheme with the extracted parameters of the detected driving lane feature. The practical experiments for the developed system are also carried out in the real traffic road of Seoul city area and the results show us the more than 90% accuracy in recognizing the driving lane and vehicle headway direction.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.595-609
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• 2020

In this study, we propose a decentralized mathematical model for predictive control of a system of multi-autonomous unmanned aerial vehicles (UAVs), also known as drones. Being decentralized and autonomous implies that all members make their own decisions and fly depending on the dynamic information received from other unmanned aircraft in the area. We consider a variety of realistic characteristics, including time delay and communication locality. For this flocking flight, we do not possess control for central data processing or control over each UAV, as each UAV runs its collision avoidance algorithm by itself. The main contribution of this work is a mathematical model for stable group flight even in adverse weather conditions (e.g., heavy wind, rain, etc.) by adding Gaussian noise. Two of our proposed variance control algorithms are presented in this work. One is based on a simple biological imitation from statistical physical modeling, which mimics animal group behavior; the other is an algorithm for cooperatively tracking an object, which aligns the velocities of neighboring agents corresponding to each other. We demonstrate the stability of the control algorithm and its applicability in autonomous multi-drone systems using numerical simulations.

• Journal of Ocean Engineering and Technology
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• v.24 no.4
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• pp.13-22
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• 2010

While a caisson used for breakwater is carried by a floating dock, accompanying stability problem by its existing motions in the dock is quite important and should be pre-checked against sea environmental condition. In the stability analysis, the acceleration, velocity, angle of roll and pitch motions are important to calculate frictional force and separation force. If separation force becomes bigger than frictional force, serious collision may be occurred between caisson and floating dock. In this study, stability evaluation during the transportation of a caisson on floating dock for breakwater was performed by using a commercial program, HydroD and CHARM3D/HARP.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.5
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• pp.2499-2522
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• 2017

Multi-hop networks are a low-setup-cost solution for enlarging an area of network coverage through multi-hop routing. Carrier sense multiple access with collision avoidance (CSMA/CA) is frequently used in multi-hop networks. Multi-hop networks face multiple problems, such as a rise in contention for the medium, and packet loss under heavy-load, saturated conditions, which consumes more bandwidth due to re-transmissions. The number of re-transmissions carried out in a multi-hop network plays a major role in the achievable quality of service (QoS). This paper presents a statistical, analytical model for the end-to-end delay of contention-based medium access control (MAC) strategies. These strategies schedule a packet before performing the back-off contention for both differentiated heterogeneous data and homogeneous data under saturation conditions. The analytical model is an application of Markov chain theory and queuing theory. The M/M/1 model is used to derive access queue waiting times, and an absorbing Markov chain is used to determine the expected number of re-transmissions in a multi-hop scenario. This is then used to calculate the expected end-to-end delay. The prediction by the proposed model is compared to the simulation results, and shows close correlation for the different test cases with different arrival rates.

• Proceedings of the Safety Management and Science Conference
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• 2011.11a
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• pp.23-34
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• 2011

Recently, carelessness on safety management in construction sites has caused a sharper upward trend in accidents and disasters, compared to the past. Therefore, this study analyzes the causes of accidents that occurred on construction sites in the year of 2010, and proposes preventive measures. The construction industry had a heavy death rate with 279 out of 418 deaths from falls in all industrial sites, accounting for 66.7%. And the causation analysis found a particularly high incidence of temporary structure-related accidents, with falling off scaffolding as the most common cause of accidents. According to the causation analysis of fall-down accident cases, accidents induced by protrusion on construction sites are a big contributor resulting in the deaths of 312, accounting for 74.8%, which is deemed to be due to site disorderliness. And to remove floor protrusions and to secure workers' traffic line and safety, neat and thorough site arrangement is necessary. Against collision, efforts must be made to prevent equipment-pedestrian crashes on site, which necessarily requires emergency lamps, alarm bells, and safety poles and blocks to be installed, lighting systems to be improved, obstacles to be removed, site supervisors to be assigned to construction equipment works, and workers to be more intensely trained and supervised.

• Resources Recycling
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• v.5 no.4
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• pp.11-16
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• 1996

In the flotation system for deinking process, the ink partcles musl collidc with the air bubbles for adhesion The probability of bubble-particle collision is largely dependent on the hydrodynamic conditions The main reason for the very small ink particles not to be able to float easily may be tound in the hydrodynamic effects, which make small ink particlcs move following the slreamlines around the bubbles rather than achually collide with bubbles. Also. the low floatabdily of the large and heavy ink particles is due to the gravity force and viscous drag which affect uprising molinn of particles through the liquid. Therefore, it is vely important to control not only the surface chemical conditions but the hydrodynamic conditions in practical floialion system

• Journal of Fisheries and Marine Sciences Education
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• v.27 no.3
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• pp.696-705
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• 2015

Approximately 4,000 vessels including sea trial ships per day are passing, entering or departing from Korea coastal waterway. Sea trial ships have erratic navigating patterns such as quick turning, crash stop and do not communicate with other vessels in appropriate time, so sea trial ships are often to expose dangerous situation such as collision in heavy traffic area. To identify the sea trial vessel's risk factors, this paper surveyed marine traffic volumes for 7 days in Korea harbour & coastal waterway, and it analyzed marine accident rate and intended to identify the risk degree of passing vessels. After that, this researched how many sea trial ship's traffic and what is the sea trial risk among sea trial items. We also conducted survey questionnaire and identified risk factors of sea trial ship. So this paper aimed to enhance the safety of korea coastal waterway to prevent sea trial ship's marine accident.

• Journal of the Society of Naval Architects of Korea
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• v.45 no.6
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• pp.579-589
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• 2008

In the past few years, there are many studies and researches of the underwater vehicles which are carried out its mission using sonar sensors. MSCL(Marine System Control Lab.) at Inha University developed test-bed small ROV, ISRO. ISRO is an open-frame type and has 4 thrusters. ISRO can control 4 motions i.e surge, sway, yaw and heave with sonar sensors. ISRO is developed for inspection of ship hull, marine structure, plant of lake or river and so on. When ROV ISRO inspects something, it is necessary to control the position of ROV ISRO's for the movement and anti-collision with structures in the underwater. In this paper, we deal with the development of a small ROV and verification of the position control system via simulation and experiment using sonar sensors.

• Journal of the Korea Safety Management & Science
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• v.14 no.1
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• pp.7-13
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• 2012

Recently, carelessness on safety management in construction sites has caused a sharper upward trend in accidents and disasters, compared to the past. Therefore, this study analyzes the causes of accidents that occurred on construction sites in the year of 2007, and proposes preventive measures. The construction industry had a heavy death rate with 279 out of 418 deaths from falls in all industrial sites, accounting for 66.7%. And the causation analysis found a particularly high incidence of temporary structure-related accidents, with falling off scaffolding as the most common cause of accidents. According to the causation analysis of fall-down accident cases, accidents induced by protrusion on construction sites are a big contributor resulting in the deaths of 312, accounting for 74.8%, which is deemed to be due to site disorderliness. And to remove floor protrusions and to secure workers' traffic line and safety, neat and thorough site arrangement is necessary. Against collision, efforts must be made to prevent equipment-pedestrian crashes on site, which necessarily requires emergency lamps, alarm bells, and safety poles and blocks to be installed, lighting systems to be improved, obstacles to be removed, site supervisors to be assigned to construction equipment works, and workers to be more intensely trained and supervised.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.198-204
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• 2007

In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.