• International Journal of Aeronautical and Space Sciences
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• 제8권2호
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• pp.37-43
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• 2007

Coordination of multiple UAVs is an essential technology for various applications in robotics, automation, and artificial intelligence. In general, it includes 1) waypoints assignment and 2) trajectory generation. In this paper, we propose a new method for this problem. First, we modify the concept of the standard visibility graph to greatly improve the optimality of the generated trajectories and reduce the computational complexity. Second, we propose an efficient stochastic approach using simulated annealing that assigns waypoints to each UAV from the constructed visibility graph. Third, we describe a method to detect collision between two UAVs. FinallY, we suggest an efficient method of controlling the velocity of UAVs using A* algorithm in order to avoid inter-UAV collision. We present simulation results from various environments that verify the effectiveness of our approach.

• International Journal of Aeronautical and Space Sciences
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• 제8권2호
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• pp.107-120
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• 2007

Coordination of multiple UAVs is an essential technology for various applications in robotics, automation, and artificial intelligence. In general, it includes 1) waypoints assignment and 2) trajectory generation. In this paper, we propose a new method for this problem. First, we modify the concept of the standard visibility graph to greatly improve the optimality of the generated trajectories and reduce the computational complexity. Second, we propose an efficient stochastic approach using simulated annealing that assigns waypoints to each UAV from the constructed visibility graph. Third, we describe a method to detect collision between two UAVs. FinallY, we suggest an efficient method of controlling the velocity of UAVs using A* algorithm in order to avoid inter-UAV collision. We present simulation results from various environments that verify the effectiveness of our approach.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.199-204
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• 1994

A method for determining the collision-free tool orientation for 5-axis milling is presented. In 5-axis milling, the proper tool orientation as well as the optimal CC-data has to be selected to machine the workpiece efficiently and accurately and accurately. Essentially, the tool orientation should be determined to avoid collisions between the tool and workpiece and to enable efficient machining. In this work, the tool orientation is determined at every CC-point which is assumed to be given. The procedure uses the potential energy method that assumes the tool and the part surfaces are charged with static electricity. This approach can detect can deteat both global and local collisions (gouging) irrespective of the tool shape. Further, in order to increase the machining efficiency, the material removal rate is maximized simultaneously.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1999년도 추계학술대회논문집
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• pp.315-320
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• 1999

Obstacle Detection System(ODS) is a essential system for automated vehicle, such as AGV(Automatic Guided Vehicle), mobile robot. Automated vehicle must have a capability to detect and to avoid obstacles to guarantee a safe driving condition. To implement obstacle detection system, virtual bumper concept adapted. Like real bumper in a car, such as in the truck, it protects vehicle from collision using laser distance sensor. When an obstacle(such as other vehicle, building, etc) intrudes this virtual bumper area, a virtual force is calculated and produces necessary strategy to be able to avoid collision. In this paper, simplified virtual bumper concept is presented, and various problems when happens to implement are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.23.1-23
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• 2001

The unmanned vehicle is composed of three parts the front & side sensor system for keeping the lane and avoiding obstacles, the acceleration & brake control system for longitudinal motion control, and the steering control system for the lateral motion control. Each system helps the unmanned vehicle of which should take notice of its location and recognize obstacles around the place by itself and make a decision how much fast to proceed according to circumstances. During the operation, the control strategy that the vehicle can detect obstacles and avoid collision on the road involves with vehicle velocity very much. Therefore, We have to define a traction system which is powered by DC motor so that, unmanned vehicle can control its velocity accurately. In this study, we find mechanical and ...

• 전기전자학회논문지
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• 제25권2호
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• pp.252-260
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• 2021

In this paper, a method of using Software Defined Radio (SDR) is proposed for improving the accuracy of identifying two kinds of signals as Wireless Fidelity (Wi-Fi) signal and Bluetooth signal at the same frequency band of 2.4 GHz based on the time-domain signal characteristic. An SDR device was set up for collecting transmitting signals from Wi-Fi access points (Wi-Fi) and mobile phones (Bluetooth). Different characteristics between Wi-Fi and Bluetooth signals were extracted from the measured result. The SDR device is programmed with a Wi-Fi and Bluetooth detection algorithm and a collision detection algorithm to detect and verify the Wi-Fi and Bluetooth signals based on collected IQ data. These methods are necessary for some applications like wireless communication optimization, Wi-Fi fingerprint localization, which helps to avoid interference and collision between two kinds of signals.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2007년도 학술대회 3부
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• pp.306-317
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• 2007

We present an interactive and accurate collision detection algorithm for deformable, polygonal objects based on the streaming computational model. Our algorithm can detect all possible pairwise primitive-level intersections between two severely deforming models at highly interactive rates. In our streaming computational model, we consider a set of axis aligned bounding boxes (AABBs) that bound each of the given deformable objects as an input stream and perform massively-parallel pairwise, overlapping tests onto the incoming streams. As a result, we are able to prevent performance stalls in the streaming pipeline that can be caused by expensive indexing mechanism required by bounding volume hierarchy-based streaming algorithms. At run-time, as the underlying models deform over time, we employ a novel, streaming algorithm to update the geometric changes in the AABB streams. Moreover, in order to get only the computed result (i.e., collision results between AABBs) without reading back the entire output streams, we propose a streaming en/decoding strategy that can be performed in a hierarchical fashion. After determining overlapped AABBs, we perform a primitive-level (e.g., triangle) intersection checking on a serial computational model such as CPUs. We implemented the entire pipeline of our algorithm using off-the-shelf graphics processors (GPUs), such as nVIDIA GeForce 7800 GTX, for streaming computations, and Intel Dual Core 3.4G processors for serial computations. We benchmarked our algorithm with different models of varying complexities, ranging from 15K up to 50K triangles, under various deformation motions, and the timings were obtained as 30~100 FPS depending on the complexity of models and their relative configurations. Finally, we made comparisons with a well-known GPU-based collision detection algorithm, CULLIDE [4] and observed about three times performance improvement over the earlier approach. We also made comparisons with a SW-based AABB culling algorithm [2] and observed about two times improvement.

• 조명전기설비학회논문지
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• 제17권3호
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• pp.11-17
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• 2003

본 논문에서는 충돌검지 다중 접속 프로토콜을 적용하여 기존의 3선식 RS232C직렬 통신 포트를 2선식 공통 통신채널에 접속하여 다중접속을 가능하게 하는 인터페이스의 구현을 다루었다. 기존의 3선식 RS232C직렬 통신포트의 하드웨어의 변경 없이 송신데이터와 수신데이터를 공통데이터 선으로 결합하는 인터페이스회로에 의하여 2선으로 구성하였다. 2선식 연결방법에 의하여 다수의 호스트가 공통선로에 연결되는 경우2개 이상의 호스트가동시에 데이터를 전송할 경우 데이터의 충돌이 발생한다. 이를 감지하기 위하여 전송 데이터를 궤환하여 비교하고 전송데이터의 왜곡 여부로 데이터 충돌을 검지한다. 데이터의 재전송시 충돌 확률을 낮추기 위하여 여러 가지 재전송 모델링을 제시하였으며 각 방법에 대한 실험결과를 통하여 성능을 비교하였다. 본 연구의 결과는 기존의 RS232C 기기의 회로를 거의 변경하지 많고 다중접속이 가능하게 함으로 기존의 각종기기 및 설비를 단일 통신선로에 의한 네트워크에 연결하는 데 응용될 수 있다.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1994년도 춘계공동학술대회논문집; 창원대학교; 08월 09일 Apr. 1994
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• pp.536-542
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• 1994

This paper introduces a vehicle-following-system in which a moving vehicle recognizes the front vehicle's tail-light color and luminance, while maintaining a certain distance and avoiding collision. Using color images rather than using gray-scale images makes it easier to detect the objective color and eliminates the need of a thresholding. The Methods used are RGB to HSV conversion and global region growing method. This paper contributes to the basic study of Color-Vision, and can be extended to color inspection systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.88-93
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• 1993

This paper introduces an ARV(Autonomous Road Vehicle) system which can run on orads without help of a driver by detecting road boundaries through computer vision. This vehicle can also detect obstacles in front through sonar sensors and infrared sensors. This system largely consists of a handle steering module and a braking module. From road boundaries, the steering module determines handle turn angle. The braking module stops or decelerates to avoid collision depending on the relative speeds and distance to the obstacles detected by different sensors. This ARV system has been implemented in a small jeep and can run 30-40 km/h city traffic. In this paper, we illustrate the structure of the ARV systems and its operation principle.