• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.234-241
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• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.535-542
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• 2000

This paper presents a method for the dynamic analysis of constrained multibody systems undergoing abrupt collision. The proposed method uses a longer time interval to check collision than that of c onventional method. This reduces the computational effort significantly. To calculate collision points on two colliding rigid bodies, one may introduce constraints of contact. However, this causes reduction of degree of freedom and difficulty of numerical analysis. The proposed method can calculate collision points without above mentioned problems. Three numerical examples are given to demonstrate the computational efficiency and the usefulness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.649-652
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• 1989

In this paper we outline an approach for the collision-free trajectory planning of two robot arms which are modeled as connected line segments. A new approach to determine the collision between two robot arms and the boundary of the collision region in the coordination space is proposed. The coordination curve may then be chosen to avoid the collision region. For minimum time trajectory, time is assigned to this curve by dynamic time scaling under constraints such as maximum torque or maximum angular velocity of each actuator. A comparison of the proposed method and the graphical method of determining the collision region is also included. Finally, as an example, some simulation results for two SCARA type robots are presented.

• Journal of the Institute of Convergence Signal Processing
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• v.3 no.4
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• pp.57-61
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• 2002

We design Collision Avoidance System using model vehicle. The purpose of this system(Collision Avoidance System) is to maintain continuously constant distance between a forward running vehicle and a following automatic guided vehicle(AGV). For this system, we design modeling of vehicle and observe this through simulation. By sing super sonic sensors to measure the distance between vehicles and controller using 80c196kc for changing velocity of motor, we design Collision Avoidance System as maintaining continuously constant distance between vehicles.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.4
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• pp.28-34
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• 1998

This paper presents a new method for local obstacle avoidance of indoor mobile robots. The method combines a directional approach called the lane method and a velocity space approach. The lane method divides working area into lanes and then chooses the best lane to follow for efficient and collision-free movement. Then, the heading direction to enter and follow the best lane is decided, and translational and rotational velocity considering physical limitations of a mobile robot are determined. Since this method combines both the directional and velocity space method, it shows collision-free motion as well as smooth motion taking the dynamic of the robot into account.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.5
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• pp.88-92
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• 2002

This research is about slurry wear of SM45C and SUS304, which using standard sand and KUM river sand. The results are as follows ; 1. Mass loss rates of both standard sand and KUM river sand were linearly increased as increasement of time and velocity. 2. The average diameter of sand from relatively, less wear rate and portion of larger particles. 3. Wear resistance was linear with time and velocity of liquid jet regardless of type of sand. Also, it was able to evaluate with the formula, $HV^2$/E calibrated with n, the velocity index. 4. The wear surface in liquid jet experiment was smooth. The maximum wear depth was observed at the location 2~4mm apart from the center in the condition of $90^{\circ}$ of collision angle 6mm of nozzle diameter, and 20mm of collision distance. The sectional shape in radial appeared as 'W'shape.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.798-801
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• 2001

This research is about slurry wear of SM45C and SUS304, which using standard sand and KUM river sand. The results are as follows ; 1. Mass loss rates of both standard sand and KUM river sand were linearly increased as increasement of time and velocity. 2. The average diameter of sand from relatively, less wear rate and portion of larger particles. 3. Wear resistance was linear with time and velocity of liquid jet regardless of type of sand. Also it was able to evaluate with the formula, HV2/E calibrated with n, the velocity index. 4. The wear surface in liquid jet experiment was smooth. The maximum wear depth was observed at the location, 2~4mm apart from the center in the condition of 90$^{\circ}$of collision angle 6mm of nozzle diameter, and 20mm of collision distance. The sectional shape in radial appeared as 'W' shape.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.39 no.7
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• pp.567-578
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• 2015

Single droplet-wall collision heat transfer characteristics on a heated plate above Leidenfrost temperature were experimentally investigated considering the effects of impact velocity. The collision characteristics of the droplet impinged on the heated wall and the changes in temperature distribution were simultaneously measured using synchronized high-speed video and infrared cameras. The surface heat flux distribution was obtained by solving the three-dimensional transient heat conduction equation for the heated substrate using the measured surface temperature data as the boundary condition for the collision surface. As the normal impact velocity increased, heat transfer effectiveness increased because of an increase in the maximum spreading diameter and a decrease in the vapor film thickness between the droplet and heated wall. For We < 30, droplets stably rebounded from a heated wall without breakup. However, the droplets broke up into small droplets for We > 30. The tendency of the heat transfer to increase with increasing impact velocity was degraded by the transition from the rebounding region to the breakup region; this was resulted from the reduction in the effective heat transfer area enlargement due to the breakup phenomenon.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.2
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• pp.59-65
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• 2017

When an anchor is dropped into the sea, there exists a danger of collision on the pipeline and subsea cables in the seabed. This collision could cause huge environmental disasters and serious economic losses. In order to secure the safety of subsea structures such as pipelines and subsea cables from the external impact, it is necessary to estimate the exact external force through the anchor's terminal velocity on the water. FLUENT, a computational fluid dynamic program, was used to acquire the terminal velocity and drag coefficient computation. A half-symmetry condition was used in order to reduce the computational time and a moving deforming mesh technique also adapted to present hydrostatic pressure. The results were examined with the equation based on Newton's Second Law to check the error rate. In this study, three example cases were calculated by stockless anchors of 5.25 ton, 10.5 ton, and 15.4 ton, and for the onshore experiment dropped height was back calculated with the anchor's terminal velocity in the water.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.405-411
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• 2011

This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using $A^*$ algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.