• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.19-29
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• 2019

Recently, autonomous vehicles have been studied actively. Autonomous vehicles can detect objects around them using their on board sensors, estimate collision probability and maneuver to avoid colliding with objects. Many algorithms are suggested to prevent collision avoidance. However there are limitations of complex and diverse environments because algorithm uses only the information of attached environmental sensors and mainly depends on TTC (time-to-Collision) parameter. In this paper, autonomous driving algorithm using I2V communication-based cooperative sensing information is developed to cope with complex and diverse environments through sensor fusion of objects information from infrastructure camera and object information from equipped sensors. The cooperative sensing based autonomous driving algorithm is implemented in autonomous shuttle bus and the proposed algorithm proved to be able to improve the autonomous navigation technology effectively.

• Korean Journal of Cognitive Science
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• v.10 no.4
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• pp.63-70
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• 1999

Reconstruction of collision accidents is to analyze the cause of accidents and collision behavior using available information from vehicle accident circumstances. This paper introduces a collision reconstruction system which is developed to be applicable to traffic accident reconstruction. Our System combines both quantitative and qualitative collision models so as to compensate for weaknesses in each with strengths of each other. I It provides accurate predictions and causal explanations of the collision behavior. During r reverse analysis of collision. qualitative simulation is used to verify a hypothesis and to detect any conflict in early stage of reconstruction. It is implemented and applied to real car-to-car collision accidents. The test results verify the reliabilities of our techniques.

• The Journal of Korea Robotics Society
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• v.9 no.2
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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.

• Journal of Communications and Networks
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• v.17 no.3
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• pp.275-285
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• 2015

To improve the efficiency of carrier sense multiple access (CSMA)-based medium access control (MAC) protocols, CSMA with collision resolution (CSMA/CR) has been proposed. In the CSMA/CR, a transmitting station can detect a collision by employing additional sensing after the start of a data transmission and then resolve the next collision that might occur by broadcasting a jam signal during a collision detection (CD) period. In this paper, we analyze the delay of a CSMA/CR based on a generic p- persistent CSMA model and obtain the minimum achievable delay of the CSMA/CR by finding the optimal length of the CD period according to the number of contending stations. Through this delay analysis, we also investigate the throughput-delay characteristics of the CSMA/CR protocol according to various parameters. Analysis and simulation results show that the CSMA/CR has a considerably lower delay and its throughput-delay characteristic is significantly improved than the conventional CSMA/CA and wireless CSMA/CD protocols.

• Proceedings of KOSOMES biannual meeting
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• 2003.11a
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• pp.105-108
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• 2003

A ultrasonic alert system is proposed in order to prevent the collision accidents of srmll ships. This system displays a lamp and a sound signal alerting collision by trrmsmitting ultrasonic pulse in air to detect ships and objects within fXJ m Under the condition of restricted visibility and compliazted works, it is expected to enh:uu:e the effect if navigators' lookout.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.321-324
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• 2003

There are two steps to solve the self-collision avoidance problems for redundant manipulators. First, all links are regarded as cylinders. and then the collisions should be checked among all pairs of the links. Between two cylinders. we can get the collision information derived from the concept or configuration space obstacle in real time. Therefore. it is possible to detect the links where collisions are likely in real time by setting the risk radius which is larger than actual radius. Second. the configuration control points (CCP) should be placed at the ends of the detected links. A cost function is the sum of the distances between the CCPs. To maximize the cost function means the links go far away each other without self-collisions.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.1
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• pp.33-43
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• 2013

This paper proposes a distributed MAC protocol called Carrier Sensing Multiple Access with Collision Resolution (CSMA/CR) considering fully-connected single hop network environments for next-generation wireless LAN with high density of stations. The proposed CSMA/CR is compatible with the conventional MAC protocols by observing the operation of CSMA/CA and is able to detect a collision promptly without RTS/CTS exchange by applying the technique of CSMA/CD to wireless environments. Moreover, once a collision is detected, the dedicated resource is allocated to the next transmission and so the collision that may occur again is resolved. We investigate some implementation issues for the practicality of CSMA/CR and compare it with the typical distributed MAC protocols. The simulation results show that the proposed CSMA/CR has a low overhead as detecting a collision without the RTS/CTS exploitation and achieves always the best throughput regardless of the number of access stations, by using the reservation-based collision resolution technique.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.7
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• pp.1624-1637
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• 2013

In RFID systems, one important issue is how to effectively address tag collision, which occurs when multiple tags reply simultaneously to a reader, so that all the tags are correctly identified. However, most existing anti-collision protocols assume isotropic collisions where a reader cannot detect any of the tags from the collided signals. In practice, this assumption turns out to be too pessimistic since the capture effect may take place, in which the reader considers the strongest signal as a successful transmission and the others as interference. In this case, the reader disregards the other collided tags, and in turn, fails to read the tag(s) with weaker signal(s). In this paper, we propose a capture effect-aware anti-collision protocol, called Multi-Round Collision Tree (MRCT) protocol, which efficiently identifies the tags in real RFID environments. MRCT deals with the capture effect as well as channel error by employing a multi-round based identification algorithm. We also analyze the performance of MRCT in terms of the number of slots required for identifying all tags. The simulation results show that MRCT significantly outperforms the existing protocol especially in a practical environment where the capture effect occurs.

• Journal of Internet Computing and Services
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• v.12 no.5
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• pp.101-111
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• 2011

Most researches in WSN-based parking management system used wireless sensors to monitor the events in a car parking area. However, the problem of car collisions in car parks was not discussed by previous researches. The car position details over time are vital in analyzing a collision event. This paper proposes a collision verification method to detect and to analyze the collision event in the parking area, and then notifies car owners. The detection uses the information from motion sensors for comprehensive details of position and direction of a moving car, and the verification processes an object tracking technique with a fast OBB intersection test. The performance tests show that the location technique is more accurate with additional sensors and the OBB collision test is faster compared to a normal OBB intersection test.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.4
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• pp.451-458
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• 2015

This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary robot parts should be monitored in real-time. For the minimum distance estimation, we suggest a modified method from a previous skeleton algorithm which has less computation burden and realize collision avoidance based on a potential function using the proposed algorithm. The resultant command by collision avoidance should not disturb a given primary task, so null-space of joint solution from a CLIK is utilized for collision avoidance by a gradient projection method.