• Journal of IKEEE
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• v.7 no.2 s.13
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• pp.253-259
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• 2003

In a good 3D engine, objects interactions are similar to those of real-world. Collision is one of the interactions. It includes whether collision took place or not, where collision took placed, and reaction after collision took place. More precise collision detection needs more time. If there exist required precision, detection time can be controlled by choosing appropriate detection model. Therefore, we need a selection mechanism for the collision detection with respect to required precision and detection time. In this paper, a collision detection model with seven different precision levels is examined. And relationship between detection time and precision is analyzed. Consequently, we propose a selection mechanism for collision detection model.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.240-241
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• 2008

We are presenting the efficient and robust simplified module based self-collision detection of humanoid robot simulator. For safe and reliable operations of humanoid robot, the self-collision detection is essential and extremely important. The main methods of self-collision detection are inverse X-Y-Z fixed angles and module distance filtering (MDF). According to experiments on the humanoid robot simulator with the self-collision detection, we could have a confidence about the efficiency of the self-collision.

• Journal of Korea Multimedia Society
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• v.25 no.2
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• pp.297-310
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• 2022

Road facilities such as CCTV poles have potential risk of collision accidents with a car. A collision detection algorithm installed in the facility allows the collision accident to be known remotely. Most collision detection algorithms are operated by simply focusing on whether a collision have occurred, because these methods are used to measure only acceleration data from a 3-axis sensor to detect collision. However, it is difficult to detect other detailed information such as malfunction of the sensor, collision direction and collision strength, because it is not known without witness the accident. Therefore, we proposed enhanced detection algorithm to get the collision direction, and the collision strength from the tilt of the facility after accident using a 9-axis sensor in this paper. In order to confirm the performance of the algorithm, an accuracy evaluation experiment was conducted according to the data measurement cycle and the invocation cycle to an detection algorithm. As a result, the proposed enhanced algorithm confirmed 100% accuracy for 50 weak collisions and 50 strong collisions at the 9-axis data measurement cycle of 10ms and the invocation cycle of 1,000ms. In conclusion, the algorithm proposed is expected to provide more reliable and detailed information than existing algorithm.

• Journal of Korea Game Society
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• v.1 no.1
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• pp.42-48
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• 2001

Collision is a brief dynamic event consisting of the close approach of two or more objects or particles resulting in an abrupt change of momentum or exchange of energy because of interaction. Collisions play very important role in computer graphics, computer games and animations fields. Collisions can supply active interaction between cyberspace and real world and give much interests for making nice games so reasonable collision detection algorithms are needed. Collision detection algorithms should satisfy being fast and accuracy. In this paper, we survey the 2D collision detection algorithms between geometric models. We present several methods and system available for collision detection.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.169-176
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• 2020

This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

• Journal of the Korea Computer Graphics Society
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• v.25 no.2
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• pp.11-18
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• 2019

In this paper, we propose a framework that can perform acceleration collision detection efficiently by using a cone based collision area in a particle-based system which requires collision detection with many objects. Three conditions determine particle and cone-based collision regions: 1) If there is a cone position within the radius of the adjacent particle, 2) In the case where the position of the adjacent particle exists in the cone area, 3) When adjacent particles exist between two vectors forming a cone area. As a result, it is defined that when the above conditions are all satisfied, the particle and the region of a cone have collided. In this paper, we automatically update the area of the cone, which is the collision detection area, according to the particle movement. Determine the direction and length of the cone based on the position and velocity of the particle to calculate the dynamic change of the cone. Collision detection is performed quickly using only the particles in the finally calculated area. The acceleration method proposed in this paper is simple to implement because it is executed with a closed form equation instead of explicitly creating the tree data structure, and collision inspection performance is improved in all results.

• ETRI Journal
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• v.45 no.2
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• pp.329-337
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• 2023

For safe last-mile autonomous robot delivery services in complex environments, rapid and accurate collision prediction and detection is vital. This study proposes a suitable neural network model that relies on multiple navigation sensors. A light detection and ranging technique is used to measure the relative distances to potential collision obstacles along the robot's path of motion, and an accelerometer is used to detect impacts. The proposed method tightly couples relative distance and acceleration time-series data in a complementary fashion to minimize errors. A long short-term memory, fully connected layer, and SoftMax function are integrated to train and classify the rapidly changing collision countermeasure state during robot motion. Simulation results show that the proposed method effectively performs collision prediction and detection for various obstacles.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.3
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• pp.113-118
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• 2012

Collision detection plays a key role in collision mitigation system. The malfunction of the collision mitigation system can result in another dangerous situation or unexpected feeling to driver and passenger. To prevent this situation, the collision time, offset, and collision decision should be determined from the appropriate collision detection algorithm. This study focuses on a method to determine the time to collision (TTC) and frontal offset (FO) between the ego vehicle and the target object. The path prediction method using the ego vehicle information is proposed to improve the accuracy of TTC and FO. The path prediction method utilizes the ego vehicle motion data for better prediction performance. The proposed algorithm is developed based on laser scanner. The performance of the proposed detection algorithm is validated in simulations and experiments.

• Journal of the Korea Society of Computer and Information
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• v.11 no.3
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• pp.187-192
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• 2006

We reviewed the collision event with pc-based shooting games and existing collision detection algorithms. Then we proposed a new collision check technique using a small quadrilateral unit. by which existing quadrilateral collision detection techniques can be made up for. For demonstration we implemented a simple shooting game having its screen output. We proved that the proposed technique can be applied to real computer games by means of showing the experimental results and screen outputs from implemented real games.

• Journal of Communications and Networks
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• v.18 no.3
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• pp.502-512
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• 2016

The wireless carrier sense multiple access with collision detection (WCSMA/CD) and carrier sense multiple access with collision resolution (CSMA/CR) protocols are considered representative distributed collision detection protocols for fully connected dense wireless local area networks. These protocols identify collisions through additional short-sensing within a collision detection (CD) period after the start of data transmission. In this study, we analyze their throughput numerically and show that the throughput has a trade-off that accords with the length of the CD period. Consequently, we obtain the optimal length of the CD period that maximizes the throughput as a closed-form solution. Analysis and simulation results show that the throughput of distributed collision detection protocols is considerably improved when the optimal CD period is allocated according to the number of stations and the length of the transmitted packet.