• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2004.11a
• /
• pp.57-60
• /
• 2004

Evaluating the risk of collision quantitatively plays a key role in developing the expert system of navigation and collision avoidance. This study analysed thoroughly how to determine the thresholds as described in the new evaluation of collision risk using sech function, and developed the appropriate equation as applicable.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.20 no.5
• /
• pp.477-485
• /
• 2010

In this study, we suggested several approaches to evaluate the collision acceleration of a carbody under the article 16 of the Korean rolling stock safety regulations. There are various methods to evaluate the rigid body accelerations such as the displacement comparison method by double integration of filtered acceleration data, the velocity comparison method by direct integration of filtered acceleration data, and the analysis method of a velocity-time curve. We compared these methods one another using the 1D dynamic simulation model of Korean high-speed EMU composed of nonlinear springs or bars, dampers, and masses. From the simulation results, the velocity-time curve analysis method and the displacement comparison method are recommended to filter high frequency oscillations and evaluate the maximum and average accelerations of a carbody after a train collision.

• 한국HCI학회:학술대회논문집
• /
• 2006.02a
• /
• pp.812-817
• /
• 2006

This paper presents an image-space algorithm to real-time collision detection, which is run completely by GPU. For a single object or for multiple objects with no collision, the front and back faces appear alternately along the view direction. However, such alternation is violated when objects collide. Based on these observations, the algorithm has been devised, and the implementation utilizes the state-of-the-art functionalities of GPU such as framebuffer objects(FBO), vertex buffer object(VBO) and occlusion query. The experimental results show the feasibility of GPU-intensive collision detection and its performance gain in real-time applications such as 3D games.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.1
• /
• pp.105-114
• /
• 1999

By using the conceptual impedance and the elasticity of a serial chain of spring-damper system, a real-time collision-free trajectory generation algorithm is proposed. The reference points on a trajectory connected by the spring-damper system have a mechanism for self-Position adjustment to avoid a collision by the impedance, and the local adjustment of each reference point is propagated through the elasticity to a real robot at the end of the spring-damper system. As a result, the overall trajectory consisting of the reference points becomes free of collision with environmental obstacles and efficient having the shortest distance as possible. In this process, the reference points connected by the spring-damper system take role of virtual robot as global guidance for a real robot, and a cooperative optimization is carried out by the system of virtual robots. A control algorithm is proposed to implement the impedance for a car-like mobile robot.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1999-2004
• /
• 2004

Collision avoidance for the aircraft can be stated as a problem of maintaining a safe distance between aircrafts in conflict. Optimal collision avoidance problem seeks to minimize the given cost function while simultaneously satisfying the constraints. The cost function can be a function of time or input. This paper addresses the trajectory time-optimization problem for collision avoidance of the unmanned aerial vehicles. The problem is difficult to handle, because it is a two points boundary value problem with dynamic environment. Some simplifying algorithms are used for application in on-line operation. Although there are more complicated problems, by prediction of conflict time and some assumptions, we changed a dynamic environment problem into a static one.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1609-1614
• /
• 2003

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.12
• /
• pp.1089-1099
• /
• 2015

This paper proposes vision-based collision risk estimation method for an unmanned surface vehicle. A robust image-processing algorithm is suggested to detect target obstacles from the vision sensor. Vision-based Target Motion Analysis (TMA) was performed to transform visual information to target motion information. In vision-based TMA, a camera model and optical flow are adopted. Collision risk was calculated by using a fuzzy estimator that uses target motion information and vision information as input variables. To validate the suggested collision risk estimation method, an unmanned surface vehicle experiment was performed.

• Journal of the Korean Chemical Society
• /
• v.42 no.3
• /
• pp.297-301
• /
• 1998

Linkage positions in oligosaccharides may be obtained by FAB CAD MS/MS (Fast Atom Bombardment Collision Activated Dissociation Mass Spectrometry/Mass Spectrometry). Acetylated derivatives of the linkage-isomeric trisaccharides exhibited more useful product ion patterns than the free trisaccharides and provided specific fragmentation patterns according to linkage positions. The reason for the useful linkage dependent spectra patterns of acetylated forms is related to the ability of each linkage in the oligosaccharides to absorb different levels of collision energy and rotational freedom of the individual glycosidic linkage.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2004.04a
• /
• pp.193-200
• /
• 2004

In this study, the impact load on bridge by vessel collision in consideration of fender system is evaluated by numerical method. The bow of object vessel(DWT5000) is standardized, and modeled by shell elements. The main body of objective vessel is modeled by beam elements that present mass distribution and stiffness of vessel. The buoyancy effect of vessel is considered as linear spring. The two types of fender systems, such as steel and rubber are analyzed in this study. In steel fender system, the steel plates that absorb collision energy by its collapse are modeled by shell element with stiffener. The steel is material modeled elastic-plastic material. In the rubber fender system, the rubber material is modeled hyper-elastic material and the main body of fender is modeled by solid elements. The global impact responses of vessel and fender system are evaluated by explicit dynamic scheme. The results show that the magnitude of vessel collision force are depended on the material behavior of fender system. Also the values of collision load are conservative compare to the those of design codes.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2005.04a
• /
• pp.143-150
• /
• 2005

In this study, to evaluate the collision behaviors of the navigating vessel and the dolphin protective system protecting the substructures of bridges, the numerical simulation was performed. The analysis model of vessel bow that the plastic deformations are concentrated was composed by shell elements, and the main body of vessel was modeled by beam elements to represent the mass distribution and the change of potential energy. The material model reflecting the confining condition was used for the modeling of the filling soil of dolphin system. The surrounding soil of the dolphin system was modeled as nonlinear springs. As results, it is verified that the dolphin system can adequately dissipate the kinematic energy of the collision vessel. The surrounding soil of the dolphin system is able to resist the collision force of the vessel. And the major energy dissipation mechanism of collision energy is the plastic deformation of the vessel bow and the dolphin system.