• Title/Summary/Keyword: steering control system

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Development for the Azimuth Measurement Algorithm using Multi Sensor Fusion Method (멀티센서 퓨전 기법을 활용한 방위 측정 알고리즘의 설계)

  • Kim, Tae-Yeong;Kim, Young-Chul;Song, Moon-Kyou;Chong, Kil-To
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.12 no.2
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    • pp.865-871
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    • 2011
  • Presently, the location and direction information are certainly needed for the autonomous vehicle of the ship. Among them, the direction information is a essential elements to automatic steering system. And the gyro-compass, the magnetic-compass and the GPS compass are the sensor indicating the direction. The gyro-compasses are mainly used in the large-sized ship of the GMDSS(Global Maritime Distress & Safety System). The precision and the reliability of the gyro-compasses are excellent but big volume and high price are disadvantage. The magnetic-compass has relatively fine precision and inexpensive price. However, the disadvantage is in the influence by the magnetism object including the steel structure of a ship, and etc. In the case of the GPS compass, the true north is indicated according to the change of the location information but in case of the minimum number of satellites or stopping of a ship or exercise in the error range, the exact direction cannot be obtained. In this paper, the performance of the GPS compass was improved by using the least-square curve fitting method for the mutual trade off of the angle sensor. The algorithm which improves the precision of an azimuth by applying the weighted value according to the size of covariance error was proposed with GPS-compass and magnetic compass. The characteristic and the performance of the proposed algorithm were analyzed and verified through experimentation. The applicability of the proposed algorithm was shown through the experimental result.

Driver's Status Recognition Using Multiple Wearable Sensors (다중 웨어러블 센서를 활용한 운전자 상태 인식)

  • Shin, Euiseob;Kim, Myong-Guk;Lee, Changook;Kang, Hang-Bong
    • KIPS Transactions on Computer and Communication Systems
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    • v.6 no.6
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    • pp.271-280
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    • 2017
  • In this paper, we propose a new safety system composed of wearable devices, driver's seat belt, and integrating controllers. The wearable device and driver's seat belt capture driver's biological information, while the integrating controller analyzes captured signal to alarm the driver or directly control the car appropriately according to the status of the driver. Previous studies regarding driver's safety from driver's seat, steering wheel, or facial camera to capture driver's physiological signal and facial information had difficulties in gathering accurate and continuous signals because the sensors required the upright posture of the driver. Utilizing wearable sensors, however, our proposed system can obtain continuous and highly accurate signals compared to the previous researches. Our advanced wearable apparatus features a sensor that measures the heart rate, skin conductivity, and skin temperature and applies filters to eliminate the noise generated by the automobile. Moreover, the acceleration sensor and the gyro sensor in our wearable device enable the reduction of the measurement errors. Based on the collected bio-signals, the criteria for identifying the driver's condition were presented. The accredited certification body has verified that the devices has the accuracy of the level of medical care. The laboratory test and the real automobile test demonstrate that our proposed system is good for the measurement of the driver's condition.

Comparative Study of Subjective Mental Workload Assessment Techniques for the Evaluation of ITS-oriented Human-Machine Interface Systems (지능형 교통체계 기반 인간-기계 인터페이스 시스템 평가를 위한 정신적부하 측정방법의 비교 연구)

  • Cha, Doo-Won;Park, Peom
    • Journal of Korean Society of Transportation
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    • v.19 no.3
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    • pp.45-58
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    • 2001
  • Subjective mental workload assessment technique becomes a standard human factors and human-machine interface evaluation tool for the evaluation of ITS(Intelligent Transport Systems)-oriented information systems as well as the drivers visual activity analysis, physiological indices(GSR, EEG, ECG, etc.), secondary task performance, reaction time. vehicle control parameters(speed, steering behavior, accelerator control) that are widely applied for transportation and vehicle systems to evaluate the safety, to decide the system or design alternatives, and to establish the design guidelines. This paper reviewed and compared the most globally employed four mental workload assessment techniques that have been designed for the use of various human-machine systems and ITS-oriented in-vehicle information systems. NASA-TLX(National Aeronautics and Space Administration-Task Load Index). SWAT(Subjective Workload Assessment Technique), MCH(Modified Cooper-Harper) scale, and recently developed RNASA-TLX(Revision of NASA-TH) were compared in terms of sensitivity and subjective evaluations to derive the human-machine interface evaluation guidelines for the application of ITS-oriented in-vehicle information systems. Then, experiment results supported that RNASA-TLX is the prospective tool for the mental workload assessment of ITS-oriented in-vehicle information systems.

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A Study on the Safety Handling Method of KCG's Water Jet Propulsion Ship (해양경찰 Water Jet 추진함정의 안전 조함법 연구)

  • Yun, Chong-Gum;Pak, Chae-Hong;Park, Deuk-Jin;Jung, Cho-Yeong
    • Journal of Navigation and Port Research
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    • v.41 no.6
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    • pp.373-380
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    • 2017
  • Operational errors caused by human factors, which is the major cause of marine accidents, include lack of knowledge, misunderstanding knowledge, and inadequate procedures. Recently, the type of propulsion mounted on KCG cutters has been diversified. In particular, the water jet propulsion unit, which was mainly installed in small boats, have been gradually expanded to medium and large size Coast Guard cutters, reaching 50% of the total. Axes types are divided into 2 to 4, and the bucket types are divided into Double Reverse Bucket(DRB) and Single Reverse Bucket(SRB); in these, the backward and steering control methods are completely different. Diversification of these operating systems can increase factors causing human error by the ships' operators. However, there is a lack of research on the maneuvering methods, considering the inherent active characteristics of each type of water jet. In this paper, we analyze the sideway method suitable for the condition of Coast Guard Exclusive wharf without assistance, based on the astern performance of each type. Then, a ship handling simulator was used for the experiment; they compared and verified through interviews of captains.

A Study on the Traffic Stream and Navigational Characteristics at the Adjacent Sea Area of Busan Central Wharf (부산 중앙부두 주변 해역의 교통 흐름 및 통항 특성에 관한 연구)

  • Kim Se-Won;Lee Yun-Sok;Park Young-Soo;Kim Jong-Sung;Yun Gwi-Ho;Kim Dae-Hee
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2005.10a
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    • pp.103-109
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    • 2005
  • At the adjacent sea area of Busan Central Wharf, a variety of vessels, such as middle-large passenger ships, small fast sailing ships, container ships, cargo ships and working ships as well as small miscellaneous vessels are freely sailing comparatively without special steering and sailing Rules and marine traffic control because exclusive wharfs in accord with their purpose and use have been arranged in each wharf. In this research, we analyzed traffic stream and navigational characteristics of main traffic route based on statistics and distribution of tracks by ship's type and tonnage of the passing vessels after conducting marine traffic survey twice using exclusive software by targeting the sea area during the period of time. We examined the traffic safety of the passing vessels by classifying the sea area by each function based on the analysis about this traffic situation, and analyzing the effect by designating 'Buknea passage'. We also studied the plan for the effective rearrangement of Central Wharf considering basically the traffic safety oif arrival and departure in a point if view of navigators.

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An Operations Study on a Home Health Nursing Demonstration Program for the Patients Discharged with Chronic Residual Health Care Problems (추후관리가 필요한 만성질환 퇴원환자 가정간호 시범사업 운영 연구)

  • 홍여신;이은옥;이소우;김매자;홍경자;서문자;이영자;박정호;송미순
    • Journal of Korean Academy of Nursing
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    • v.20 no.2
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    • pp.227-248
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    • 1990
  • The study was conceived in relation to a concern over the growing gap between the needs of chronic patients and the availability of care from the current health care system in Korea. Patients with agonizing chronic pain, discomfort, despair and disability are left with helplessly unprepared families with little help from the acute care oriented health care system after discharge from hospital. There is a great need for the development of an alternative means of quality care that is economically feasible and culturally adaptible to our society. Thus, the study was designed to demonstrate the effectiveness of home heath care as an alternative to bridge the existing gap between the patients' needs and the current practice of health care. The study specifically purports to test the effects of home care on health expenditure, readmission, job retention, compliance to health care regime, general conditions, complications, and self-care knowledge and practices. The study was guided by the operations research method advocated by the Primary Health Care Operations Research Institute(PRICOR) which constitutes 3 stages of research : namely, problem analysis solution development, and solution validation. The first step in the operations research was field preparation to develop the necessary consensus and cooperation. This was done through the formation of a consulting body at the hospital and a steering committee among the researchers. For the stage of problem analysis, the Annual Report of Seoul National University Hospital and the patients records for last 5 years were reviewed and selective patient interviews were conducted to find out the magnitude of chronic health problems and areas of unmect health care needs to finally decide on the kinds of health problems to study. On the basis of problem analysis, the solution development stage was devoted to home care program development asa solution alternative. Assessment tools, teaching guidelines and care protocols were developed and tested for their validity. The final stage was the stage of experimentation and evaluation. Patients with liver diseases, hemiplegic and diabetic conditions were selected as study samples. Discharge evaluation, follow up home care, measurement and evaluation were carried out according to the protocols of care and measurement plan for each patient for the period of 6 months after discharge. The study was carried out for the period from Jan. 1987 to Dec. 1989. The following are the results of the study presented according to the hypotheses set forth for the study ; 1. Total expenditures for the period of study were not reduced for the experimental group, however, since the cost per hospital visit is about 4 times as great as the cost per home visit, the effect of cost saving by home care will become a reality as home care replaces part of the hospital visits. 2. The effect on the rate of readmission and job retention was found to be statistically nonsignificant though the number of readmission was less among the experimental group receiving home care. 3. The effect on compliance to the health care regime was found to be statistically significant at the 5% level for hepatopathic and diabetic patients. 4. Education on diet, rest and excise, and medication through home care had an effect on improved liver function test scores, prevention of complications and self - care knowledge in hepatopathic patients at a statistically significant level. 5. In hemiplegic patient, home care had an effect on increased grasping power at a significant level. However. there was no significant difference between the experimental and control groups in the level of compliane, prevention of complications or in self-care practices. 6. In diabetic patients, there was no difference between the experimental and control groups in scores of laboratory tests, appearance of complications, and self-care knowledge or self -care practices. The above findings indicate that a home care program instituted for such short term as 6 months period could not totally demonstrate its effectiveness at a statistically significant level by quantitative analysis however, what was shown in part in this analysis, and in the continuous consultation sought by those who had been in the experimental group, is that home health care has a great potential in retarding or preventing pathological progress, facilitating rehabilitative and productive life, and improving quality of life by adding comfort, confidence and strength to patients and their families. For the further studies of this kind with chronic patients it is recommended that a sample of newly diagnosed patients be followed up for a longer period of time with more frequent observations to demonstrate a more dear- cut picture of the effectiveness of home care.

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