• The Journal of Korea Robotics Society
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• v.19 no.3
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• pp.266-273
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• 2024

With the rising interaction between robots and humans, detecting collisions has become increasingly vital for ensuring safety. In this paper, we propose a novel approach for detecting collisions without using force torque sensors or tactile sensors, utilizing a Transformer-based neural network architecture. The proposed collision detection approach comprises a torque estimator network that predicts the joint torque in a free-motion state using Synchronous time-step encoding, and a collision discriminator network that predicts collisions by leveraging the difference between estimated and actual torques. The collision discriminator finally creates a binary tensor that predicts collisions frame by frame. In simulations, the proposed network exhibited enhanced collision detection performance relative to the other kinds of networks both in terms of prediction speed and accuracy. This underscores the benefits of using Transformer networks for collision detection tasks, where rapid decision-making is essential.

• Publications of The Korean Astronomical Society
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• v.12 no.1
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• pp.149-157
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• 1997

The collision model of the disk, based on collisions between the particles in the disk, is summarized. The dependence of disk stability on the collision of the particles is demonstrated. The energy spectrum produced in the disk is numerically calculated. We concluded that the results are not largely different from those of the standard disk model. It implies that the collision of the particles inside the disk may be considered here.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1065-1070
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• 2004

Optimal collision avoidance algorithm for unmanned aerial vehicles based on proportional navigation guidance law is investigated this paper. Although proportional navigation guidance law is widely used in missile guidance problems, it can be used in collision avoidance problem by guiding the relative velocity vector to collision avoidance vector. The optimal navigation coefficient can be obtained if an obstacle if an obstacle moves at constant velocity vector. The stability of the proposed algorithm is also investigated. The stability can be obtained by choosing a proper navigation coefficient.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.921-925
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• 1987

This paper presents the recent findings for collision avoidance of two manipulators in addition to the results shown in Lee [4]. The collision situation we assume here is that the prespecified final time $K_{f}$ and the prespecified path of one robot can be modified for the purpose of collision avoidance with the other robot. The collision avoidance problem is resolved into three independent categories for a systematic approach.h.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.8
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• pp.893-898
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• 1988

This paper presents the recent findings for collision avoidance of two manipulators in terms of motion level modifications. The collision situation we assume here is that the prespecified final time Kf and the prespecified path of one robot can be modified for the purpose of collision avoidance with the other robot. The collision avoidance problem is resolved into three independent categories for a systematic approach.

• ETRI Journal
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• v.38 no.2
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• pp.387-396
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• 2016

This paper introduces a new type of collision attack on first-order masked Advanced Encryption Standards. This attack is a known-plaintext attack, while the existing collision attacks are chosen-plaintext attacks. In addition, our method requires significantly fewer power measurements than any second-order differential power analysis or existing collision attacks.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.480-484
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• 1990

A simple time-delay method for avoiding collisions between two articulated robot manipulators is proposed. Links of robot are approximated by polyhedra and the danger of collision between two robots is expressed by distances between the robots. An algorithm, which can fast obtain the minimum time-delay value needed for collision avoidance, using scheme of following the boundary contour of collision region in the collision map which has information about collisions between two robots, is described.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1996.10a
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• pp.279-282
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• 1996

Collision avoidance is a method to direct a mobile robot without collision when traversing the environment. This kind of navigation is to reach a destination without getting lost. In this paper, we use a genetic algorithm for the path planning and collision avoidance. Genetic algorithm searches for path in the entire, continuous free space and unifies global path planning and local path planning. It is a efficient and effective method when compared with traditional collision avoidance algorithm.

• Publications of The Korean Astronomical Society
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• v.11 no.1
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• pp.125-137
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• 1996

The collision of two particles in the accretion disk may lead to be a mechanism of heat generation. By using hydrodynamic equations, the mean free path, the collision frequency and the deflection angle due to the collision of the particles are derived as a function of the mass accretion rate. The mean free path seems to be a smaller fraction compared to the dimension parameter of the system. The radiative flux in the disk is obtained under the influence of the collision of the particles.

• Journal of The Korean Astronomical Society
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• v.34 no.1
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• pp.31-33
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• 2001

The collision effects in particles of the accretion disk are examined by the use of small perturbation. The collision force is assumed to be equal to 2 vV. From the equations governing collisions of such particles the local dispersion relation is obtained.