• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.7
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• pp.809-822
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• 1992

A mathematical approach to solving the time-varying obstacle avoidance problem is pursued. The mathematical formulation of the problem is given in robot joint space(JS). View-time concept is used to deal with time-varying obstacles. The view-time is the period in which a time-varying obstacles. The view-time is the period in which a time-varying obstacle is viewed and approximated by an equivalent stationary obstacle. The equivalent stationary obstacle is the volume swept by the time-varying obstacle for the view-time. The swept volume is transformed into the JS obstacle that is the set of JS robot configurations causing the collision between the robot and the swept volume. In JS, the path avoiding the JS obstacle is planned, and a trajectory satisfying the constraints on robot motion planning is planned along the path. This method is applied to the collision-free motion planning of two SCARA robots, and the simulation results are given.

• Bulletin of the Korean Chemical Society
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• v.10 no.4
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• pp.372-374
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• 1989

The new viscosity theory is applied to the abnormal behavior of the viscosity near the critical point. This theory suggests that the viscosity is equal to the product of the absolute pressure(kinetic pressure + internal pressure) and the collision time. We can find this abnormal behavior to be due to the large collision time near the critical point. The agreements between theoriticals and experimentals of the critical enhancement are satisfactory.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.2 s.344
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• pp.27-38
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• 2006

When an RFID reader attempts to read tags, interference might occur if the neighboring readers also attempt to communicate with the same tag at the same time or the neighboring readers use the same frequency at the same time. These interferences cause the RFID reader collision. When the RFID reader collision occirs, either the command from the reader can not be transmitted to the tags or the response from the tags can not be received by the reader correctly. RFID reader anti-collision algorithms have been developed to reduce it. One of the best blown reader anti-collision algorithms is the Colorwave algorithm proposed by MIT. The Colorwave algorithm reduces the reader collisions by having the readers operate at different times. In Colorwave the time is divided into frames and a frame is divided into a number of slots. Each reader can access the tags using the slot time assigned to it. Depending on the probability of the interference, the colorwave adjusts the frame size to improve the efficiency. In this paper, we analyze the operations and the performance of the Colorwave algorithm and identify the problems of the algorithm. We also show that by adding some modifications to the algorithm the performance can be improved significantly.

• Journal of IKEEE
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• v.14 no.2
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• pp.24-32
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• 2010

Slotted-ALOHA and Binary-tree method are researched for the anti-collision for RFID system. However, it is required of the rapid recognition time for all tags and the reduction of the system complexity. In this paper. the hybrid anti-collision method is proposed to solve the problems. The RFID reader with the hybrid anti-collision method groups the tags with the number which makes the maximum system throughput, then it reads each group by slotted-ALOHA method. By the computer simulation results, it is found that the hybrid method improves the tag identification time and the system throughput together with the comparison to other anti-collision methods. Therefore, the proposed hybrid anti-collision method will enhance the RFID system performance.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.970-975
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• 2002

We suggests an effective method to construct time-varying C-obstacles in the 3-dimensional configuration space (C-space) using free arc. The concept of free arc was defined mathematically and the procedure to find free arc in the case off-dimensional C-space was derived in [1]. We showed that time-varying C-obstacles can be constructed efficiently using this concept, and presented simulation results for two SCARA robot manipulators to verify the efficacy of the proposed approach. In this paper, extensions of this approach to the 3-dimensional C-space is introduced since nearly all industrial manipulators are reasonably treated ill the too or three dimensional C-space f3r collision avoidance problem The free arc concept is summarized briefly and the method to find lice arc in the 3-dimensional f-space is explained. To show that this approach enables us to solve a practical collision avoidance problem simulation results f3r two PUMA robot manipulators are presented.

• Journal of Information Technology Applications and Management
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• v.15 no.1
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• pp.261-270
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• 2008

Wireless Mesh Networks (WMNs) have emerged as one of the new hot topics in wireless communications. WMNs have been suggested for use in situations in which some or all of the users are mobile or are located in inaccessible environments. Unconstrained transmission in a WMN may lead to the time overlap of two or more packet receptions, called collisions or interferences, resulting in damaged useless packets at the destination. There are two types of collisions; primary collision, due to the transmission of the stations which can hear each other, and hidden terminal collision, when stations outside the hearing range of each other transmit to the same receiving stations. For a WMN, direct collisions can be minimized by short propagation and carrier sense times. Thus, in this paper we only consider hidden terminal collision while neglecting direct collisions. To reduce or eliminate hidden terminal collision, code division multiple access (CDMA) protocols have been introduced. The collision-free property is guaranteed by the use of spread spectrum communication techniques and the proper assignment of orthogonal codes. Such codes share the fixed channel capacity allocated to the network in the design stage. Thus, it is very important to minimize the number of codes while achieving a proper transmission quality level in CDMA WMNs. In this paper, an efficient heuristic code assignment algorithm for eliminating hidden terminal collision in CDMA WMNs with general topology.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1290-1303
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• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• Journal of IKEEE
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• v.2 no.1 s.2
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• pp.114-121
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• 1998

This paper proposed a collision avoidance scheme to improve the network performance and priority control scheme to support real-time ATM applications in CIF(Cells in Frames), which carries ATM cells over existing Ethernet interfaces. The proposed scheme has optimized for the two nodes Ethernet, that is a typical CIF network, and doesn't require any hardware modification of existing Ethernet interface card. The collision avoidance scheme gives fair access opprtunities with minimized contention to the nodes by assigning different inter-frame gap to each element of CIF network. The priority control scheme guarantees preemptive transmission of real-time frames to the medium by exchanging queuing status information between two nodes. Therefore in this paper it is shown that CIF network which has both the collision avoidance scheme of MAC layer and the priority control scheme of CIF layer has a improved network performance and supports real-time ATM applications efficiently.

• Journal of Mechanical Science and Technology
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• v.18 no.1
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• pp.92-105
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• 2004

A new algorithm for planning a collision-free path based on algebraic curve is developed and the concept of collision-free Path Space (PS) is introduced. This paper presents a Geometry Mapping (GM) based on two straight curves in which the intermediate connection point is organized in elliptic locus ($\delta$, $\theta$). The GM produces two-dimensional PS that is used to create the shortest collision-free path. The elliptic locus of intermediate connection point has a special property in that the total distance between the focus points through a point on ellipse is the same regardless of the location of the intermediate connection point on the ellipse. Since the radial distance, a, represents the total length of the path, the collision-free path can be found as the GM proceeds from $\delta$=0 (the direct path) to $\delta$=$\delta$$\_$max/(the longest path) resulting in the minimum time search. The GM of elliptic workspace (EWS) requires calculation of interference in circumferential direction only. The procedure for GM includes categorization of obstacles to .educe necessary calculation. A GM based on rectangular workspace (RWS) using Cartesian coordinate is also considered to show yet another possible GM. The transformations of PS among Circular Workspace Geometry Mapping (CWS GM) , Elliptic Workspace Geometry Mapping (EWS GM) , and Rectangular Workspace Geometry Mapping (RWS GM), are also considered. The simulations for the EWS GM on various computer systems are carried out to measure performance of algorithm and the results are presented.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.7
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• pp.55-62
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• 2006

This thesis describes collision avoidance using fuzzy logic based on "Right of way" rules of ICAO and FAA and pilot's experiences for Unmanned Aerial Vehicle(UAV). To apply the rules, we designed fuzzy logic based collision avoidance system. And we also designed decision logic for enable condition of collision avoidance system. Decision logic have three kinds of core key, i.e. Relative Range, Time of CPA(Closest Point of Approach) and Distance at CPA. Application of decision logic made a possible to avoid NMAC(Near Mid-Air Collision) and it has been verified through several simulations. To conclude, we proposed the method to carry out "See and Avoid" ability on UAVs, which is capability to mingle with manned aircraft in civil airspace.