• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.11
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• pp.36-45
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• 1992

A numerical trajectory planning method for path-constrained trajectory planning is proposed which ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities. For each robot, physical constraints of the robots such as limited torques or limited rotational velocities of the actuators are converted to the constraints on velocity and acceleration along the path, which is described by a scalar variable denoting the traveled distance from starting point. Collision region is determined on the coordination space according to the kinematic structures and the geometry of the paths of the robots. An Extended Coordination Space is then constructed` an element of the space determines the postures and the velocities of the robots, and all the constraints described before are transformed to some constraints on the behaviour of the coordination-velocity curves in the space. A dynamic programming technique is them provided with on the discretized Extended Coordination Space to derive a collision-free and time-optimal trajectory pair. Numerical example is included.

• Journal of the Korea Society of Computer and Information
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• v.20 no.8
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• pp.23-28
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• 2015

TPSN(Timing-sync Protocol for Sensor Networks), the representative of time synchronization protocol for WSN(wireless sensor networks), was developed to provide higher synchronization accuracy and energy efficiency. So, TPSN's approach has been referenced by so many other WSN synchronization schemes till now. However, TPSN has a collision problem due to simultaneous transmission among competing nodes, which causes more network convergence delay for a network-wide synchronization. A Polling-based scheme for TPSN is proposed in this paper. The proposed scheme not only shortens network-wide synchronization time of TPSN, but also reduce collision traffic which lead to needless power consumption. The proposed scheme's performance has been evaluated and compared with an original scheme by simulation. The results are shown to be better than the original algorithm used in TPSN.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.3A
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• pp.267-277
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• 2011

Like other wireless network protocols, IEEE 802.15.4 adopts CA (Collision Avoidance)algorithm to avoid the early collision of a new packet by randomizing its first transmission time rather than its immediate delivery. The traditional CA scheme of IEEE 802.15.4, however, selects the random access time from the predetermined range without considering the degree of current congestion. It probably causes either a long delay to settle in the suitable range for the current network load or frequent clashes especially during the long lasting heavy traffic period. This paper proposes an ACA(Adaptive Collision Avoidance) algorithm adapting the initial backoff range to the undergoing collision variations. It also introduces a mathematical model to predict the performance of ACA algorithm added to IEEE 802.15.4. With only small deviations from corresponding simulations, our analytical model shows that ACA technique can improve the throughput of IEEE 802.15.4 by up-to 41% maximally in addition to shortening the packet delays.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.6
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• pp.670-678
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• 2018

In coastal waters where the traffic volume of the ship is high, there is a high possibility of a collision accident because complicated encounter situations frequently occurs between ships. To reduce the collision accidents at sea, a quantitative collision risk assessment is required in addition to the navigator's compliance with COLREG. In this study, a new collision risk assessment system was developed to evaluate the collision risk on ship's planned sailing routes. The appropriate collision risk assessment method was proposed on the basis of reviewing existing collision risk assessment models. The system was developed using MATLAB and it consists of three parts: Map, Bumper and Assessment. The developed system was applied to the test sea area with simple computational conditions for testing and to actual sea areas with real computational conditions for validation. The results show the length of own ship, ship's sailing time and sailing routes affect collision risks. The developed system is expected to be helpful for navigators to choose the optimum safe route before sailing.

• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.19-29
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• 2019

Recently, autonomous vehicles have been studied actively. Autonomous vehicles can detect objects around them using their on board sensors, estimate collision probability and maneuver to avoid colliding with objects. Many algorithms are suggested to prevent collision avoidance. However there are limitations of complex and diverse environments because algorithm uses only the information of attached environmental sensors and mainly depends on TTC (time-to-Collision) parameter. In this paper, autonomous driving algorithm using I2V communication-based cooperative sensing information is developed to cope with complex and diverse environments through sensor fusion of objects information from infrastructure camera and object information from equipped sensors. The cooperative sensing based autonomous driving algorithm is implemented in autonomous shuttle bus and the proposed algorithm proved to be able to improve the autonomous navigation technology effectively.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.3
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• pp.339-345
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• 2018

Sunrise and sunset times differ depending on location and date. Previous studies conveniently but monotonously applied day and night times set up. This research defined the daytime and nighttime while considering the time of twilight according to the date and the location of ship collision accidents. Classifying the frequency of ship collision accidents with this standard, we conducted a chi-squared test for the difference between daytime and nighttime. The frequencies of ship collision accidents according to daytime and nighttime was compared by season, month, and time, and all of them showed statistically significant differences. The highest number of daytime ship collisions was 11.6 %, in June, and nighttime collisions peaked at 13.7 %, in December. The most frequent hour for daytime ship collisions was 0700h-0800h, at 10.2 %, and nighttime collisions peaked between 0400h-0500h, at 16.9 %. It is clear that the criteria used in previous studies cited was applied without any theoretical basis and likely only for the convenience of the researchers. It was found that results depend on what criteria are applied to the same research data. This study shows that statistical analyses of marine accidents, traffic volume, and congestion density should be carried out quantitatively while considering daytime and nighttime hours for each particular location and date.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.39 no.5
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• pp.225-231
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• 2002

This paper proposes a discriminative collision resolution scheme for the wireless Medium Access Control (MAC) protocols to support the Quality of Service (QoS) requirements of real-time applications. Our scheme deals with access requests in different ways depending on their delay requirements. In our scheme, a Collision Resolution Period (CRP) is used to quickly resolve collisions for the delay sensitive traffic in order to support their delay requirements. Performance analysis and simulation results show that our algorithm may successfully meet the delay requirements of real time applications by reducing access delays and collisions.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.112-119
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• 2011

This paper introduces a technique for calculating the degree of collision risk used in collision avoidance system of AUVs. The collision risk will be reckoned with the fuzzy inference, which uses TCPA(Time of the Closest Point of Approach) and DCPA(Distance of the Closest Point of Approach) as factors. A method to obtain TCPA and DCPA for 3-dimension is suggested. The degree of collision risk is provided to collision avoidance system, and is verified the effectiveness through simulation.

• International Journal of Computer Science & Network Security
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• v.21 no.9
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• pp.339-345
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• 2021

The rapid development of various applications in networking system, business, medical, education, and other domains that use basic data access operations such as insert, edit, delete and search makes data structure venerable and crucial in providing an efficient method for day to day operations of those numerous applications. One of the major problems of those applications is achieving constant time to search a key from a collection. A number of different methods which attempt to achieve that have been discovered by researchers over the years with different performance behaviors. This work evaluated these methods, and found out that almost all the existing methods have non-constant time for adding and searching a key. In this work, we designed a multi-indexes hashing algorithm that handles a collision in a hash table T efficiently and achieved constant time O(1) for searching and adding a key. Our method employed two-level of hashing which uses pattern extraction h₁(key) and h₂(key). The second hash function h₂(key) is use for handling collision in T. Here, we eliminated the wasted slots in the search space T which is another problem associated with the existing methods.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.627-634
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• 1989

A collision-free trajectory planning algorithm using the iterative learning concept is proposed for dual robot arms in a 3-D workspace to accurately follow their specified paths with constant velocities. Specifically, a collision-free trajectory minimizing the trajectory error is obtained first by employing the linear programming technique. Then the total operating time is iteratively adjusted based on the maximum trajectory error of the previous iteration so that the collision-free trajectory has no deviation from the specified path and also the operating time is near-minimal.