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김건엽(Gonyop Kim),김동훈(Donghoon Kim),김덕용(Docyong Kim),이도헌(Doheon Lee),명현(Hyun Myung) 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
In this paper, a novel method for the path planning and tracking of the Autonomous Underwater Vehicles (AUVs) using cameras in structured environments is proposed. As the navigation of the AUVs is one of the emerging research areas in oceanic engineering, the importance of the path planning and tracking has been emphasized. Use of the visual data from cameras is one of attractive methods for underwater sensing and it is especially effective in the close range detections. In the proposed algorithm, using the vision as the primary sensor, a method for the robust path planning and smooth tracking has been implemented by generating virtual way-points based on the visually detected landmarks. The feasibility of the algorithm has been demonstrated by the experiments using an AUV platform, KAURO, where the artificial path markers are used as landmarks.
신덕호(Ducko Shin),김건엽(Gonyop Kim),오세찬(Sehchan Oh),윤용기(Yong-Ki Yoon) 한국철도학회 2011 한국철도학회 학술발표대회논문집 Vol.2011 No.10
System safety is defined as the state where the hazard risks due to internal system interface operation and maintenance are controlled as acceptable levels. It is represented and evaluated either with the risk level of each risk factor with the consideration of operation environments or with Safety Integrity Level (SIL) which is the system functional safety without considering application environments. The assessment results are issued in forms of certificates and they are reused in many cases. However the conditions and restrictions for different application environments vary in each case therefore additional evaluation on the preconditions of assessment in comparison with the actual application environment must be carried out. For the area of train control TR 50506-1 has been established based on the IEC 62425 (international standard for safety of train control system by RSSB) and EN 50129 (Europe standard) for the further assessment. In this paper the analysis on TR 5056-1 has been conducted in depth. The purpose of the study is to determine the requirements for inter-acceptability including scope procedures principles examination and suitability. The results can be utilized for the system safety maintenance when new devices or components are introduced in conventional systems.
도시철도용 CBTC시스템 개발을 위한 RAMS관리계획 수립에 대한 연구
신덕호(Ducko Shin),김건엽(Gonyop Kim),오세찬(Sehchan Oh),윤용기(Yong-Ki Yoon) 한국철도학회 2011 한국철도학회 학술발표대회논문집 Vol.2011 No.10
Ministry of Land Transportation and Maritime Affairs of Korea has started a research project on verification process and safety assessment of Communication Based Train Control (CBTC) system for metropolitan railroad control as a 3-year project starting from 2010. As a number of companies has made efforts in securing the technologies for domestic production of CBTC systems the purpose of the project is to develop the specification for interoperability with the considerations for local environments including metropolitan train operations and wireless communications. And the developed systems and the RAMS related outcomes from the participating companies are subject to Independent Safety Assessment (ISA) performed by a foreign specialized agency and the corresponding certificates are to be issued as a part of the project. In this paper the RAMS management for verification and commercialization of metropolitan railroad CBTC systems has been studied. The study includes response strategy for the requirements of international standards responsibility and authority of the related institute and the companies quantitative RAMS objectives and risk management strategies in project fulfillment.
차상중심 열차제어시스템 실용화를 위한 트램 우선신호 전략 연구
백종현(Jong-Hyen Baek),성유석(Yu-Suk Sung),김건엽(Gonyop Kim),최현영(Hyeon Yeong Choi) 대한전기학회 2015 전기학회논문지 Vol.64 No.10
For efficient and economical train operation in low-density railway line, on-board oriented train control system, which reduces expensive wayside equipment, is being developed. In this paper, we discuss a tram signal priority strategy which enables efficient and safe train operation when the developing system is applied to train-tram railway environment. Based on the well-known transit signal priority strategies, we develop a tram signal priority algorithm and conduct simulations by using model-based systems engineering (MBSE) tool. Various considerations such as operation procedure, linkage to existing road traffic system, applicability with respect to crossroad types, and so on, are also dealt with.