• The Journal of Korea Robotics Society
• /
• v.9 no.2
• /
• pp.111-116
• /
• 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.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.28 no.6
• /
• pp.675-682
• /
• 2015

Current design codes such as AASHTO LRFD or Korean Highway Bridge Design Code recommend of using static force for designing bridge column against vehicle collisions. However, there was an accident that the bridge was collapsed shortly after vehicle impact on bridge pier in Nebraska(near Big Spring, 2003). It was found that the second largest cause of bridge collapse is collision after hydraulic causes. It can be thought that the possibility of truck-bridge collision are getting increasing as the size of truck increases and traffic condition are becoming improved. However, dynamic behavior under the impact loading seldom considered in bridge design procedure due to computational cost and time. In this study, in order to reduce the computational cost for dynamic impact analysis, model reduction method was developed. Obtained results of residual displacement were compared with the results of direct impact simulations.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.26 no.1A
• /
• pp.1-9
• /
• 2006

An analysis of the annual frequency of collapse(AF) is performed for each bridge pier exposed to ship collision. From this analysis, the impact lateral resistance can be determined for each pier. The bridge pier impact resistance is selected using a probability-based analysis procedure in which the predicted annual frequency of bridge collapse, AF, from the ship collision risk assessment is compared to an acceptance criterion. The analysis procedure is an iterative process in which a trial impact resistance is selected for a bridge component and a computed AF is compared to the acceptance criterion, and revisions to the analysis variables are made as necessary to achieve compliance. The distribution of the AF acceptance criterion among the exposed piers is generally based on the designer's judgment. In this study, the acceptance criterion is allocated to each pier using allocation weights based on the previous predictions. To determine the design impact lateral resistance of bridge components such pylon and pier, the numerical analysis is performed iteratively with the analysis variable of impact resistance ratio of pylon to pier. The design impact lateral resistance can vary greatly among the components of the same bridge, depending upon the waterway geometry, available water depth, bridge geometry, and vessel traffic characteristics. More researches on the allocation model of AF and the determination of impact resistance are required.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.9 no.4
• /
• pp.169-176
• /
• 2005

An analysis of the annual frequency of collapse(AF) is performed for each bridge pier exposed to ship collision. From this analysis, the impact lateral resistance can be determined for each pier. The bridge pier impact resistance is selected using a probability-based analysis procedure in which the predicted annual frequency of bridge collapse, AF, from the ship collision risk assessment is compared to an acceptance criterion. The analysis procedure is an iterative process in which a trial impact resistance is selected for a bridge component and a computed AF is compared to the acceptance criterion, and revisions to the analysis variables are made as necessary to achieve compliance. The distribution of the AF acceptance criterion among the exposed piers is generally based on the designer's judgment. In this study, the acceptance criterion is allocated to each pier using allocation weights based on the previous predictions.

• International Journal of Highway Engineering
• /
• v.18 no.6
• /
• pp.173-180
• /
• 2016

OBJECTIVES : Fixed roadside objects are a threat to drivers when their vehicles deviate from the road. Therefore, such roadside objects need to be suitably dealt with to decrease accidents. This study determines the factors affecting the severity of accidents because of fixed roadside objects. METHODS : This study analyzed the crash severity impact of fixed roadside objects by using ordered probit regression as the analysis methodology. In this research, data from 896 traffic accidents reported in the last three years were used. These accidents consisted of sole-car accidents, fixed roadside object accidents, and lane-departure accidents on the national highway of Korea. The accident severity was classified as light injury, severe injury, and death. The factors relating to the road and the driver were collected as independent variables. RESULTS : The result of the analysis showed that the variables of the crash severity impact are the collision location (left side), gender of the driver (female), alcohol use, collision facility (roadside trees, traffic signals, telephone poles), and type of road (rural segments). Additionally, the collision location (left side), gender of the driver (female), alcohol use, collision facility (street trees, traffic signals, telephone poles), and type of road (rural segments), in order of influence, were found to be the factors affecting the crash severity in accidents due to fixed roadside objects. CONCLUSIONS : An alternative solution is urgently required to reduce the crash severity in accidents due to fixed roadside objects. Such a solution can consider the appropriate places to install breakaway devices and energy-absorbing systems.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.15 no.3
• /
• pp.201-209
• /
• 2015

The deformed degree of car body varies largely with the collision part from side collision of car-to-car. In case of deformation of car body caused by collision, the movement is different as speed energy changes to strain energy. Generally, in the analysis of traffic accident, the movement of car after the collision is analyzed by law of conservation of motion and the error of energy absorption rate along the deformation of car body can be calibrated by inputting coefficient of restitution, but it is current situation that coefficient of restitution applied by referring to the research results of forward collision and backward collision because the research results of side collision is rare. Vehicle model of finite element method applied by structure of car body and materials of each component was analyzed by explicit finite element method, and coefficient of restitution and collision detection time along contact part of side collision was drawn by analyzing the results. Analysis result acquired through the law of conservation momentum by applying finally-computed coefficient of restitution and crash detection time compared to collision result of actual vehicle. As a result, the reliability of analysis was higher than the existing analysis method were acquired when applying the drawn initial input value that used finite element method analysis model.

• Journal of Mechanical Science and Technology
• /
• v.17 no.4
• /
• pp.501-510
• /
• 2003

The spot welded sections of automobiles such as the hat and double hat section members, absorb the most of the energy during the front-end collision. The purpose of this study was to analyze the collapse characteristics of spot welded section members with respect ttl the pitch or spot welds on flanges. through impact experiments and computation for para-closed sections and perfectly closed sections. The hat shaped section members were tested at the impact collapse velocities of 4.72 m/sec, 6.54 m/sec and 7.19 m/sec and double hat shaped section members were tested at the impact collapse velocities of 6.54 m/sec, 7.19 m/sec and 7.27 m/sec. A commercial LS-DYNA3D was used to simulate the collapse behavior of the hat and double hat shaped section members. The validity of the simulation was to be proved by comparing the simulation results and the experimental results.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2010.09c
• /
• pp.72-77
• /
• 2010

The Incheon Bridge, which was opened to the traffic in October 2009, is an 18.4 km long sea-crossing bridge connecting the Incheon International Airport with the expressway networks around the Seoul metropolitan area by way of Songdo District of Incheon City. This bridge is an integration of several special featured bridges and the major part of the bridge consists of cable-stayed spans. This marine cable-stayed bridge has a main span of 800 m wide to cross the vessel navigation channel in and out of the Incheon Port. In waterways where ship collision is anticipated, bridges shall be designed to resist ship impact forces, and/or, adequately protected by ship impact protection (SIP) systems. For the Incheon Bridge, large diameter circular dolphins as SIP were made at 44 locations of the both side of the main span around the piers of the cable-stayed bridge span. This world's largest dolphin-type SIP system protects the bridge against the collision with 100,000 DWT tanker navigating the channel with speed of 10 knots. Diameter of the dolphin is up to 25 m. Vessel collision risk was assessed by probability based analysis with AASHTO Method-II. The annual frequency of bridge collapse through the risk analysis for 71,370 cases of the impact scenario was less than $0.5{\times}10^{-4}$ and satisfies design requirements. The dolphin is the circular sheet pile structure filled with crushed rock and closed at the top with a robust concrete cap. The structural design was performed with numerical analyses of which constitutional model was verified by the physical model experiment using the geo-centrifugal testing equipment. 3D non-linear finite element models were used to analyze the structural response and energy-dissipating capability of dolphins which were deeply embedded in the seabed. The dolphin structure secures external stability and internal stability for ordinary loads such as wave and current pressure. Considering failure mechanism, stability assessment was performed for the strength limit state and service limit state of the dolphins. The friction angle of the crushed stone as a filling material was reduced to $38^{\circ}$ considering the possibility of contracting behavior as the impact.

• Journal of Ocean Engineering and Technology
• /
• v.15 no.4
• /
• pp.115-119
• /
• 2001

The simulation of motion responses of a dolphin-moored ocean structure in shallow water when it cllides with a ship, has been carried out. The equation of motion in the time domain according to Cummin's theory is employed, and solved by making use of the Newmark-${\beta}$ method. The added mass and damping coefficients involved in the equations are abtained from a three-dimensional panel method in the frequency domain. The impact forces due to ship collision are calculated using both the elastic and non-elastic modelings. The mooring forces for dolphin systems of ocean structure are regarded as linear spring forces.

• Journal of Ocean Engineering and Technology
• /
• v.9 no.1
• /
• pp.22-35
• /
• 1995

A simplified numerical procedure have proposed to trace the dynamic behaviour of offshore tubulars subjected to lateral collision impacts. The local denting and overall bending deformation of the struck tubular are represented by a non-linear spring and an elastic visco-plastic beam respectively. In this method a temporal finite difference method and a spacial finite element method are employed. Using this method various boundary conditions are able to considered and their effects on the extent of damage can be quantified. The extent of damage due to collision can be obtained as results of the dynamic analysis. The predictions using the proposed method have been correlated with existing test results and then the reliability of the procedure has been substantiated. The characteristics of the dynamic response of tubulars under lateral impacts are compared for simply supported roller and fixed end conditions and their effects on the extent of damage are specfied.