• 한국자동차공학회논문집
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• 제6권5호
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• pp.222-227
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• 1998

Collision warning systems have been an active research and development area as the interests and demands for ASV's (Advanced Safety Vehicles) have increased. This paper presents an experimental investigation of a collision warning system for automobiles. A collision warning HiLS(Hardware-in-the-Loop Simulation) system has been designed and used to test the collision warning algorithm, radar sensors, and warning displays under realistic operating conditions in the laboratory. the collision warning algorithm is operated by a warning index, which is a function of the warning distance and the braking distance. The computer calculates velocities of the preceding vehicle and following vehicle, relative distance and relative velocity of the vehicles using vehicle simulation models. The relative distance and the relative velocity are applied to the vehicle simulator controlled by a DC motor.

• 로봇학회논문지
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• 제15권2호
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• pp.169-176
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• 2020

This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

• 로봇학회논문지
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• 제9권2호
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• pp.111-116
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• 2014

Human-robot co-operation becomes increasingly frequent due to the widespread use of service robots. However, during such co-operation, robots have a high chance of colliding with humans, which may result in serious injury. Thus, many solutions were proposed to ensure collision safety, and among them, collision detection algorithms are regarded as one of the most practical solutions. They allow a robot to quickly detect a collision so that the robot can perform a proper reaction to minimize the impact. However, conventional collision detection algorithms required the precise model of a robot, which is difficult to obtain and is subjected to change. Also, expensive sensors, such as torque sensors, are often required. In this study, we propose a novel collision detection algorithm which only requires motor encoders. It detects collisions by monitoring the high-pass filtered version of the velocity error. The proposed algorithm can be easily implemented to any robots, and its performance was verified through various tests.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1544-1549
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• 2004

A new collision avoidance algorithm is presented for two mobile robots in narrow corridor environments. When two robots meet each other in a narrow corridor, one should yield the way to the other robot. To solve the problem arising in this situation, they exchange their path to get information about crossing-points to check avoidance conditions, which are necessary for choosing the robot to yield. The conditions are summarized as follows. 1) If one robot blocks the path to the closest crossing-point in front of the other robot. 2) If the closest crossing-point of each robot is the same point. 3) Which robot is closer to the closest crossing-point. In this paper, we propose a path planning algorithm for the robot which yield the way. Simulation results are presented to verify the feasibility of the proposed collision avoidance algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1004-1008
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• 1990

This research focuses on developing a new and computationally efficient algorithm for free space structuring and planning collision free paths for an autonomous mobile robot working in an environment populated with polygonal obstacles. The algorithm constructs the available free space between obstacles in terms of free convex area. A collision free path can be efficiently generated based on a graph constructed using the midpoints of common free links between free convex area as passing points. These points correspond to nodes in a graph and the connection between them within each convex area as arcs in this graph. The complexity of the search for collision free path is greatly reduced by minimizing the size of the graph to be searched concerning the number of nodes and the number of arcs connecting them. The analysis of the proposed algorithm shows its efficiency in terms of computation ability, safety and optimality.

• Journal of Information Processing Systems
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• 제8권4호
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• pp.713-720
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• 2012

Unlike FEM (Finite Element Method), which provides an accurate deformation of soft objects, FFD (Free Form Deformation) based methods have been widely used for a quick and responsive representation of deformable objects in real-time applications such as computer games, animations, or simulations. The FFD-AABB (Free Form Deformation Axis Aligned Bounding Box) algorithm was also suggested to address the collision handling problems between deformable objects at an interactive rate. This paper proposes an enhanced FFD-AABB algorithm to improve the frame rate of simulation by adding the bounding sphere based collision test between 3D deformable objects. We provide a comparative analysis with previous methods and the result of proposed method shows about an 85% performance improvement.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.638-647
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• 1996

Robot manipulators for harvesting fruits must be controlled to track the desired path of end-effector to avoid obstacles under the consideration of collision free area and safety path. This paper presents a robot path control algorithm to secure a collision free area with the recognition of work environments. The flexible space, which does not damage fruits or branches of tree due to their flexibility and physical properties , extends the workspace. Now the task is to control robot path in the extended workspace with the consideration of collision avoidance and velocity limitation at the time of collision concurrently. The feasibility and effectiveness of the new algorithm for redundant manipulators were tested through simulations of a redundant manipulator for different joint velocities.

• Journal of information and communication convergence engineering
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• 제5권4호
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• pp.311-315
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• 2007

This paper proposes a revised query tree algorithm in RFID systems. The proposed QT_ecfi algorithm revises the QT algorithm, which has a memory-less property. In the QT_ecfi algorithm, the tag will send the remaining bits of their identification codes when the query string matches the first bits of their identification codes. When the reader receives all the responses of the tags, it knows which bit is collided. If the collision occurs in the last bit, the reader can identify two tags simultaneously without further query. While the tags are sending their identification codes, if the reader detects a collision bit, it will send a signal to the tags to stop sending. According to the simulation results, the QT_ecfi algorithm outperforms the QT algorithm in terms of the number of queries and the number of response bits.

• 대한전자공학회논문지TC
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• 제44권11호
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• pp.25-32
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• 2007

본 논문에서는 RFID Tag 충돌방지를 위한 Group Separation 알고리듬에 대해 연구 하였다. 이를 위해 기존의 RFID Tag 충돌방지 기법인 ALOHA기반의 기법과 이진 검색 충돌방지 기반의 알고리듬을 먼저 비교 분석하였다. 기존 알고리듬은 태그를 인식하기 위한 탐색횟수와 전송하는 데이터량을 감소시키는데 한계점을 가지고 있었다. 제안한 Group Separation 알고리듬은 인식범위 내의 태그를 구별하기 위해, 태그 ID의 1의 개수에 따라 그룹을 나누어 검색한다. 검색 초기에 식별 그룹을 세분화하였으므로 각 그룹의 호출에 응답 가능한 태그 ID의 개수는 크게 줄어들 뿐만 아니라 간단한 연산과정으로 쉽게 예상이 가능하다. 리더는 검색 이전에 각 그룹에서 발생 가능한 충돌 지점과 그에 따른 태그 ID를 산출하여 테이블로 구성하여 메모리에 저장하고, 충돌이 발생하면 메모리의 충들 테이블에서 충돌 지점에 따른 태그 ID를 검색한다. 알고리듬의 성능평가는 태그를 인식하기 위한 리더의 반복횟수와 전송 데이터 량으로 나타내었다. 성능평가 결과, 기존의 알고리듬과 비교하여 Group Separation 알고리듬의 반복횟수가 최대 20.4% 감소되었고, 전송 데이터 량도 1/4.5배 감소된 것을 확인할 수 있었다.

• 대한전자공학회논문지TC
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• 제44권4호
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• pp.1-9
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• 2007

본 논문에서는 RFID Tag 충돌방지를 위한 Adaptive Decision 알고리즘에 대해 연구 하였다. 이를 위해 기존의 RFID Tag 충돌방지 기법인 ALOHA기반의 기법과 이진 검색 충돌방지 기반의 알고리즘을 먼저 비교?분석하였다. 기존 알고리즘은 태그를 인식하기 위한 탐색횟수와 전송하는 데이터량을 감소시키는데 한계점을 가지고 있었다. 제안한 Adaptive Decision 알고리즘은 인식범위 내의 태그를 구별하기 위해, 호출에 응답한 모든 태그의 ID 비트 별 '1'의 개수를 계산하고, 개수가 작은 그룹의 태그를 우선적으로 식별한다. 각 태그 ID 비트의 '1'의 개수는 리더의 메모리에 저장하고, 식별된 태그 ID 비트의 ‘1’의 개수를 감산한다. 이와 같은 과정을 반복함으로써 인식범위 내의 모든 태그를 식별한다. 논문에서 제안한 능동적인 태그 선택기준과 간단한 가감 과정을 통해 불필요한 탐색횟수를 줄 일 수 있다. 알고리즘의 성능평가는 태그를 인식하기 위한 리더의 반복횟수와 전송 데이터 량으로 나타내었다. 성능평가 결과, 기존의 알고리즘과 비교하여 Adaptive Decision 알고리즘의 반복횟수가 16.8% 감소되었고, 전송 데이터 량도 ¼배 감소된 것을 확인할 수 있었다.