• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.3
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• pp.717-720
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• 2008

This paper studies a collision detection technique to dealing with moving polyhedra. Even though the problem is well-studied in computer graphics, the existing methods are inapplicable to highly dynamic environments. We use the GJK algorithm to determine collisions between convex objects. Also, our method is applied for moving objects.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.613-614
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• 2009

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.101-102
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• 2007

We demonstrate a novel calibration-free vehicle crash and rollover detect system by using a 3-axis accelerometer as a sensor element.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.11a
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• pp.241-241
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• 2023

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1651-1654
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• 2003

The process equipment for handling high level radioactive materials, such as spent nuclear fuel, is operated within a sealed facility, called a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired by remotely operated manipulator. In this study, to carry out the sale and effective maintenance of the process equipment installed in the hot cell by a servo type manipulator, a collision free motion planning method of the manipulator using virtual prototyping technology is suggested. To do this, the parts are modelled in 3-D graphics, assembled, and kinematics are assigned and the virtual workcell is implemented in the graphical environment which is the same as the real environment. The method proposed in this paper is to find the optimal path of the manipulator using the function of the collision detection in the graphic simulator. The proposed path planning method and this graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhancing the reliability of the spent fuel management.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.992-995
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• 2003

A haptic device operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. For realistic haptic display, the detailed information on collision between objects is necessary. In the past, the point-based graphic environment has been used in which the end effector of a haptic device was represented as a point and the interaction of this point with the virtual environment was investigated. In this paper, the shape-based graphic environment is proposed in which the interaction of the shape with the environment is considered to analyze collision or contact more accurately. To this end. the so-called Gilbert-Johnson-Keerthi (GJK) algorithm is adopted to compute collision points and collision instants between two shapes in the 3-D space. The 5- DOF haptic hand controller is used with the GJK algorithm to demonstrate a peg-in-hole operation in the virtual environment in conjunction with a haptic device. It is shown from various experiments that the shape-based representation with the GJK algorithm can provide more realistic haptic display for peg-in-hole operations.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.40-46
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• 2013

Automatic swing door for an automotive application is considered. The equation of motion for a driver side swing door is introduced and gravity cancellation control scheme is adapted. The control scheme supposed to cancel the moment due to the tilt of the car. A speed control is suggested for door operation automation but the output of the speed control is not suppose to be precise as for the manufacturing system control. In the frame of the velocity control of the door, feedback linearization was applied for collision detection. The collision detection performance is satisfactory. The estimate of the magnitude of disturbance due to the collision is close to the actual magnitude of disturbance. Simulation study has been performed to gain insight into the system behavior. Also real test on the prototype hardware has been performed for verification purpose.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.4
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• pp.451-458
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• 2015

This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary robot parts should be monitored in real-time. For the minimum distance estimation, we suggest a modified method from a previous skeleton algorithm which has less computation burden and realize collision avoidance based on a potential function using the proposed algorithm. The resultant command by collision avoidance should not disturb a given primary task, so null-space of joint solution from a CLIK is utilized for collision avoidance by a gradient projection method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.333-334
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• 2016

Recently, with the development of technology for the virtual reality services, the virtual reality technology has been to use various application services. However, because it is difficult to secure a non-Augmented Reality Virtual Reality in this case it has a vision problem that can be fixed in a service only, not removable. In this paper, we propose a technique of application iBeacon signal by applying the technology of the indoor location-based service using a virtual reality system described in iBeacon ensure the mobility in a virtual space, and can detect the collisions with other moving objects.

• Journal of the Society of Disaster Information
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• v.20 no.2
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• pp.315-328
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• 2024

Purpose: The purpose of this paper is to present a service construction plan using multiple complex sensor information to detect abnormal situations in urban life safety that are difficult to identify on CCTV. Method: This study selected service scenarios based on actual testbed data and analyzed service importance for local government control center operators, which are main users. Result: Service scenarios were selected as detection of day and night dynamic object, Detection of sudden temperature changes, and Detection of time-series temperature changes. As a result of AHP analysis, walking and mobility collision risk situation services and fire foreshadowing detection services leading to immediate major disasters were highly evaluated. Conclusion: This study is significant in proposing a plan to build an anomaly detection service that can be used in local governments based on real data. This study is significant in proposing a plan to build an anomaly detection service that can be used by local governments based on testbed data.