• 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.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.8 s.350
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• pp.35-46
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• 2006

When an RFID reader attempts to read the 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 simultaneously. These interferences cause the RFID reader collision. When the RFID reader collision occurs, either the command from the reader cannot be transmitted to the tags or the response of the tags cannot receive to the reader correctly, Therefore, the international standard for RFID and some papers proposed the methods to reduce the reader collision. Among those, Colorwave and Enhanced Colorwave is the reader anti-collision algorithm using the frame slotted ALOHA based a TDM(Time Division Multiplex) and are able to reduce the reader collision because theses change the frame size according to a collision probability. However, these can generate the reader collisions or interrupt the tag reading of other readers because the reader that collides with another reader randomly chooses a new slot in the frame. In this paper, we propose a new RFID reader anti-collision algorithm that each reader monitors the slots in the frame and chooses the slot having the minimum occupation probability when the reader collision occurs. Then we analyze the performance of the proposed algorithm using simulation tool.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.44 no.10
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• pp.47-54
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• 2007

Since impulse-radio-based ultra wideband (IR-UWB) do not use carrier frequency but use very short pulse to transmit data it sends data not continuously but discretely and this feature gives the potential to reduce collision in multi-user environment. In this paper, we analyse characteristic of IR-UWB and propose a new collision paradigm, Collision Distribution which changes collision level from packet to pulse. In Collision Distribution mechanical each node sends data with its own pulse interval in random time, distributed manner. It prevents packet drop due to packet collision. We show that Collision Distribution can reduce packet error and can provide real time packet transmission with analysis.

• Journal of Korea Multimedia Society
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• v.19 no.10
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• pp.1808-1815
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• 2016

TPSN(Timing-sync Protocol for Sensor Networks), the representative of time synchronization protocol, has been already developed to provide time synchronization among nodes in wireless sensor networks. Even though the TPSN's method has been referenced by so many other time synchronization schemes for resource-constrained networks like wireless sensor networks or low power personal area networks, it has some inefficiency in terms of power consumption and network-wide synchronization time (or called convergence time). The main reason is that each node in TPSN needs waiting delay to solve the collision problem due to simultaneous transmission among competing nodes, which causes more power consumption and longer network convergence time for a network-wide synchronization. In this paper an improved scheme is proposed by changing message exchange method among nodes. The proposed scheme not only shortens network-wide synchronization time, 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.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.423-427
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• 1993

A velocity planning method is proposed that ensures collision-free and minimal delay-time motions for two robotic manipulators and auxiliary equipments. Additional path, which makes robot start with possible largest speed, is added to the original prescribed path of one of two robots, and this running start along the additional path reduces delay time introduced to avoid collision between the robots and therefore reduces total traveling time.

• Journal of Auto-vehicle Safety Association
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• v.5 no.2
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• pp.17-23
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• 2013

This paper describes an algorithm for Advanced Emergency Braking(AEB) with tire-road friction coefficient estimation. The AEB is a system to avoid a collision or mitigate a collision impact by decelerating the car automatically when forward collision is imminent. Typical AEB system is operated by Time-to-collision(TTC), which considers only relative velocity and clearance from control vehicle to preceding vehicle. AEB operation by TTC has a limit that tire-road friction coefficient is not considered. In this paper, Tire-road friction coefficient is also considered to achieve more safe operation of AEB. Interacting Multiple Model method(IMM) is used for Tire-road friction coefficient estimation. The AEB algorithm consists of friction coefficient estimator and upper level controller and lower level controller. The numerical simulation has been conducted to demonstrate the control performance of the proposed AEB algorithm. The simulation study has been conducted with a closed-loop driver-controller-vehicle system using using MATLAB-Simulink software and CarSim Vehicle model.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.2 no.6
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• pp.299-311
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• 2008

The Radio Frequency IDentification (RFID) system is a contactless automatic identification system, which comprises readers and tags. In RFID systems, a reader collision occurs when there is interference in communication between one reader and the tags, due to the signals from other readers. The reader collision problem is considered as the fundamental problem affecting high density RFID reader installations. In this paper, we analyze the existing reader anti-collision algorithms. We also propose a pulse protocol-based reader anti-collision algorithm using slot occupied probability (SOP). The implementation of this improvement is simple, yet it effectively mitigates most reader collisions in dense reader mode, as shown in our simulation. That is, the proposed algorithm reduces the identification time, and increasesthe system throughput and system efficiency compared with the conventional reader anti-collision algorithms.

• Journal of Electrical Engineering and information Science
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• v.2 no.3
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• pp.51-60
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• 1997

A practically applicable collision free trajectory planning technique for tow robot systems is proposed. The robot trajectories considered in this work are composed of many segments, an at the intersection points between segments robots stop to assemble, weld, ordo other jobs by the attached a end-effectors. The proposed method is based on the Planning-Coordination Decomposition where planning is to find a trajectory of each robot independently according to their tasks and coordination is to find a velocity modification profile to avoid collision with each other. To fully utilize the independently planned trajectories and to ensure no geometrical path deviation after coordination, we develop a simple technique added the minimal delay time to avoid collision just before moving along path segments. We determine the least delay time by the graphical method in the Coordination space where collisions and coordinations are easily visualized. We classify all possible cases into 3 group and derive the optimal solution for each group.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.115-121
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• 2022

This paper proposes a distributed model predictive formation control algorithm for a group of unmanned ground vehicles (UGVs) with guaranteeing collision avoidance between UGVs. Generally, the model predictive control based formation control has a disadvantage in that it takes a long time to compute control inputs when considering collision avoidance between UGVs. In this paper, in order to overcome this problem, the formation control algorithm is implemented in a distributed manner so that it could be individually controlled. Also, a collision-avoidance method considering real-time is proposed. The proposed formation control algorithm is implemented based on robot operating system (ROS), open source-based middleware. Through the various simulation tests, it is confirmed that the formation control of five UGVs is successfully performed while avoiding collisions between UGVs.

• Journal of Ship and Ocean Technology
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• v.5 no.3
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• pp.36-44
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• 2001

The collision energy absorbing characteristics of side structure of the LNG carriers which have the cargo containment systems of the spherical and the membrane types are compared. A failure mechanism of the double hull side structures of 130, 000 $m^3$ class LNG carriers under sideways collision event has been simulated by using the detailed finite element calculations. In ship collision analysis, the finite element method based on explicit time integration has been use[1 with much success. Finite element modeling techniques for detail description of structural members antral ship motion regarding the dynamic behavior allowed to investigate the effect of bow shape and the initial contact position on side shell of collided ship. In the numerical simulations of the ship-to-ship sideways collision, the effect of the colliding bow shapes and the change of the colliding ship draft are investigated. The critical collision energy which is absorbed by a side structure of a collided ship until the fore-end of colliding ship arrives at the boundary of the cargo tank is calculated. The critical speed of specified colliding ships which can not penetrate the boundary of the LNG cargo tank of the collided ship under collision accident if evaluated.