• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.417-422
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• 1993

Robots working in the multiple robot system can perform the variety of tasks compared to the single robot system, while they are subject to the various tight constraints such as the precise coordination and the mutual collision avoidance during the task execution. In this paper, we provide an algorithm and graphical verification for collision avoidance between two robots working together. The algorithm calculates the minimum time delay for collision avoidance and the graphical verification is performed through the 3-D graphic simulator.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.113.2-113
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• 2001

In this paper, we present a robot off-Line programming system with collision detection. The collision detection is a very important factor of robot oft-line programming system for collision avoidance, path planning, and so on. The System developed in this paper, basically using an algorithm for the minimum distance calculation between general polyhedra. The proposed system shows an exact and interactive result in static and dynamic environments.

• Journal of applied mathematics & informatics
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• v.8 no.3
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• pp.829-840
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• 2001

Generally it is not easy task whether the stable systems governed by nonlinear ordinary differential equations are asymptotically stable or not. This problem often appears in studying a collision and avoidance control problem based on the stability theory. In this paper we devoted to finding conditions that the stable system obtained from the collision and avoidance control problem is asymptotically stable.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1014-1020
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• 1990

Iterative algorithms for detecting the collision of convex objects whose motion is characterized by a path in configuration space are described. They use as an essential substep the computation of the distance between the two objects. When the objects are polytopes in either two or three dimensional space, an algorithm is given which terminates in a finite number of iterations. It determines either that no collision occurs or the first collision point on the path. Extensive numerical experiments for practical problems show that the computational time is short and grows only linearly in the total number of vertices of the two polytopes.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.176-181
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• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Investigative Magnetic Resonance Imaging
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• v.23 no.4
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• pp.374-380
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• 2019

Collision tumor is a synchronous neoplasm wherein two histologically distinct tumors co-exist within the same anastomosis site. Collision tumor can occur in any organ, but the incidence is markedly rare. Additionally, preoperative diagnosis can be challenging to the radiologist. Herein, we report an age 60 male with collision tumor of rectal adenocarcinoma and diffuse large B-cell lymphoma, presented as a semi-annular wall thickening and bulky exophytic mass on MR imaging.

• Bulletin of the Korean Chemical Society
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• v.17 no.8
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• pp.745-749
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• 1996

Fluorescence from the electronically excited thiophosgene (Cl2CS) in its first excited singlet state (S1) is efficiently quenched by collision. Rates of the collision-induced electronic relaxation were obtained for various vibrational levels in the S1 state by measuring the fluorescence lifetimes. We found that the relaxation process is strongly energy-dependent; the rate consistently increases by a factor of ~40 with the increase of vibrational energy from 0 to 1450 cm-1. Collision-induced intersystem crossing from the S1 to the first triplet state (T1) is attributed to the major process responsible for the electronic relaxation.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.4D
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• pp.539-546
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• 2011

Traffic accident collision interpretation is composed of various shapes, and speed variations working to the vehicle during collision are utilized as a very important factor in evaluating collision degrees between vehicles and safety of passengers who got in the vehicle. So, methods of interpreting results on speed variations utilizing simulation programs on the collision interpretation become necessary. By the way, reliability evaluation on each program is being required because various collision interpretations simulations are spread widely. This study utilized collision interpretation programs such as EDSMAC and PC-CRASH adopting completely different physical approaches, and then carried out collision experiments of one-dimensional front and two-dimensional right angle while changing values of a lot of collision factors such as vehicle's weight, center of gravity, rolling resistance, stiffness coefficient, and braking forces among early input conditions. Also, the study recognized effects of collision factors to speed variations as output results during crashing. As a result of this research, two simulation programs showed same speed variations together on the vehicle's weight, center of gravity, and braking forces. Stiffness coefficient of the vehicle reacted to EDSMAC only, and rolling resistance coefficient did not affect any particular influences on speed variations. However, there appeared a bit comparative differences from the speed variation's values, and this is interpreted as responding outcomes by applying fixed properties values to each simulation program plainly. Therefore, reliability on analysis of traffic accident collisions shall be improved by doing speed analysis after taking the fixed value of simulation programs into consideration.

• Proceedings of KOSOMES biannual meeting
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• 2003.05a
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• pp.59-67
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• 2003

The prevention of marine accidents has been a major topic in marine society for long time and various safety policies and Countermeasures have been developed and applied to prevent those accidents. In spite of these efforts, however significant marine accidents have taken place intermittently. Ship is being operated under a highly dynamic environments and many factors are related with ship's collision and those factors are interacting. So, the analysis on ship's collision causes are very important to prepare countermeasures which will ensure the safe navigation. This study analysed the ship's collision data over the past 10 years(1991-2000), which is compiled by Korea Marine Accidents Inquiry Agency. The analysis confirmed that ‘ship's collision’ is occurred most frequently and the cause is closely related with human factor. The main purpose of this study is to propose risk control countermeasures of ship's collision. For this, the structure of human factor is analysed by the questionnaire methodology. Marine experts were surveyed based on major elements that were extracted from the human factor affecting to ship's collision. FSM has been widely adopted in modeling a dynamic system which is composed of human factors. Then, the structure analysis on the causes of ship's collision using FSM are performed. This structure model could be used in understanding and verifying the procedure of real ship's collision. Furthermore it could be used as the model to prevent ship's collision and reduce marine accidents.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.447-454
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• 2017

Using two large coast guard ships at sea, we created four encounter situations ($000^{\circ}$, $045^{\circ}$, $090^{\circ}$, $135^{\circ}$) with high possibility of collision, from 3 NM up to 0.25 NM. As relative distance was gradually decreased, the subjects were measured at 0.25 NM intervals and perceived ship collision risk (PSCR) was determined by looking at the opponent ship. Characteristics were statistically analyzed using the obtained data. The purpose of this study was to analyze the characteristics of collision risk values obtained from twelve intervals, from 3 NM to 0.25 NM relative to encounter situations by curve fitting with appropriate polynomials, to determine the distance from which the change in perceived collision risk is greatest. As a result, an optimal regression equation for each distance interval was derived from each analysis direction. The greatest variation in average collision risk value was over the range 1.25 ~ 1 NM, and the collision risk value was largest at 1 NM. The maximum change in perceived collision risk was at 1 NM. These results can contribute to preventive guidelines to minimize human error in close proximity situations with a high probability of ship collision.