• 로봇학회논문지
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• 제2권3호
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• pp.234-241
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• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• 대한기계학회논문집A
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• 제24권2호
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• pp.535-542
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• 2000

This paper presents a method for the dynamic analysis of constrained multibody systems undergoing abrupt collision. The proposed method uses a longer time interval to check collision than that of c onventional method. This reduces the computational effort significantly. To calculate collision points on two colliding rigid bodies, one may introduce constraints of contact. However, this causes reduction of degree of freedom and difficulty of numerical analysis. The proposed method can calculate collision points without above mentioned problems. Three numerical examples are given to demonstrate the computational efficiency and the usefulness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.649-652
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• 1989

In this paper we outline an approach for the collision-free trajectory planning of two robot arms which are modeled as connected line segments. A new approach to determine the collision between two robot arms and the boundary of the collision region in the coordination space is proposed. The coordination curve may then be chosen to avoid the collision region. For minimum time trajectory, time is assigned to this curve by dynamic time scaling under constraints such as maximum torque or maximum angular velocity of each actuator. A comparison of the proposed method and the graphical method of determining the collision region is also included. Finally, as an example, some simulation results for two SCARA type robots are presented.

• 융합신호처리학회논문지
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• 제3권4호
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• pp.57-61
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• 2002

We design Collision Avoidance System using model vehicle. The purpose of this system(Collision Avoidance System) is to maintain continuously constant distance between a forward running vehicle and a following automatic guided vehicle(AGV). For this system, we design modeling of vehicle and observe this through simulation. By sing super sonic sensors to measure the distance between vehicles and controller using 80c196kc for changing velocity of motor, we design Collision Avoidance System as maintaining continuously constant distance between vehicles.

• 한국생산제조학회지
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• 제7권4호
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• pp.28-34
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• 1998

This paper presents a new method for local obstacle avoidance of indoor mobile robots. The method combines a directional approach called the lane method and a velocity space approach. The lane method divides working area into lanes and then chooses the best lane to follow for efficient and collision-free movement. Then, the heading direction to enter and follow the best lane is decided, and translational and rotational velocity considering physical limitations of a mobile robot are determined. Since this method combines both the directional and velocity space method, it shows collision-free motion as well as smooth motion taking the dynamic of the robot into account.

• 한국공작기계학회논문집
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• 제11권5호
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• pp.88-92
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• 2002

This research is about slurry wear of SM45C and SUS304, which using standard sand and KUM river sand. The results are as follows ; 1. Mass loss rates of both standard sand and KUM river sand were linearly increased as increasement of time and velocity. 2. The average diameter of sand from relatively, less wear rate and portion of larger particles. 3. Wear resistance was linear with time and velocity of liquid jet regardless of type of sand. Also, it was able to evaluate with the formula, $HV^2$/E calibrated with n, the velocity index. 4. The wear surface in liquid jet experiment was smooth. The maximum wear depth was observed at the location 2~4mm apart from the center in the condition of $90^{\circ}$ of collision angle 6mm of nozzle diameter, and 20mm of collision distance. The sectional shape in radial appeared as 'W'shape.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.798-801
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• 2001

This research is about slurry wear of SM45C and SUS304, which using standard sand and KUM river sand. The results are as follows ; 1. Mass loss rates of both standard sand and KUM river sand were linearly increased as increasement of time and velocity. 2. The average diameter of sand from relatively, less wear rate and portion of larger particles. 3. Wear resistance was linear with time and velocity of liquid jet regardless of type of sand. Also it was able to evaluate with the formula, HV2/E calibrated with n, the velocity index. 4. The wear surface in liquid jet experiment was smooth. The maximum wear depth was observed at the location, 2~4mm apart from the center in the condition of 90$^{\circ}$of collision angle 6mm of nozzle diameter, and 20mm of collision distance. The sectional shape in radial appeared as 'W' shape.

• 대한기계학회논문집B
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• 제39권7호
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• pp.567-578
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• 2015

Leidenfrost 온도 이상으로 가열된 벽면과 충돌하는 액적의 속도가 열전달 특성에 미치는 영향에 관한 실험 연구를 수행하였다. 동기화된 초고속 가시화 카메라와 적외선 카메라를 이용하여 벽면과 충돌하는 액적의 충돌 특성과 충돌면의 온도 분포를 측정하였다. 획득한 표면온도 분포를 충돌면의 경계 조건으로 이용하여 가열 벽면의 3차원 비정상 열전도 수치해석을 통해 표면 열유속 분포를 얻었다. 수직방향 충돌속도가 증가할수록 최대 액막 직경이 증가하고 가열 벽면과 액막 사이에 존재하는 증기막의 두께가 감소하여 열전달 효율이 증가하였다. 액적은 웨버수가 30보다 작은 경우 되튐현상이 발생하였으며, 큰 경우 작은 액적들로 분쇄되어졌다. 충돌속도에 의한 열전달량의 증가 경향이 되튐영역에서 분쇄영역에서 가면서 약화되었으며, 이는 분쇄현상에 의해 유효 열전달 면적의 확대 효과가 저감되었기 때문으로 해석된다.

• Journal of Advanced Research in Ocean Engineering
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• 제3권2호
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• pp.59-65
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• 2017

When an anchor is dropped into the sea, there exists a danger of collision on the pipeline and subsea cables in the seabed. This collision could cause huge environmental disasters and serious economic losses. In order to secure the safety of subsea structures such as pipelines and subsea cables from the external impact, it is necessary to estimate the exact external force through the anchor's terminal velocity on the water. FLUENT, a computational fluid dynamic program, was used to acquire the terminal velocity and drag coefficient computation. A half-symmetry condition was used in order to reduce the computational time and a moving deforming mesh technique also adapted to present hydrostatic pressure. The results were examined with the equation based on Newton's Second Law to check the error rate. In this study, three example cases were calculated by stockless anchors of 5.25 ton, 10.5 ton, and 15.4 ton, and for the onshore experiment dropped height was back calculated with the anchor's terminal velocity in the water.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.405-411
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• 2011

This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using $A^*$ algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.