• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 심포지엄 논문집 정보 및 제어부문
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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.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 컴퓨터소사이어티 추계학술대회논문집
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• pp.125-128
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• 2003

This paper proposes efficient cloth animation and collision handling methods. There have been various techniques for the generation of cloth behavior. However, the cloth animation is still a challenging subject in real-time environments. This paper presents an efficient animation method based on implicit integration. The proposed method can efficiently animate virtual cloth object with complex geometry. In addition, this paper also introduces an efficient collision handling method. The collision resolution is another important issue in cloth animation since deformable objects has special collision problem called self-collision. In this paper, the self-collision was successfully avoided in real - time environments.

• 전기전자학회논문지
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• 제23권3호
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• pp.941-946
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• 2019

본 논문에서는 LTE(Long Term Evolution) SON(Self Organization Network) 환경에서 PCI(Physical Cell Identification)를 할당하는 방법에 대하여 분석하였다. PCI를 할당하는 방법에 다양한 기법들이 제시되었고 규격에서는 기본적으로 PCI를 할당하는 과정에서 다른 셀과 ID가 '충돌'(Collision) 또는 '혼란'(Confusion)을 일으킬 수 있다는 것을 제시하였다. 따라서 본 논문에서는 LTE 규격에서 제시하는 PCI '충돌', '약한충돌'(Weak Collision) 그리고 '혼란'의 시나리오가 무엇인지 내용을 살펴보았다. 또한, 각 시나리오에 대한 해결 방법으로 셀 중앙적접근과 분산적 접근 방법에 대해 살펴보았다. 논문에서는 최근 연구되고 있는 그래픽 컬러링(Graphic Coloring) 기법에 대한 접근 방법에 대해 살펴보았고 중앙접근적 방법에 대한 전략에 대해 설명하였다.

• 한국군사과학기술학회지
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• 제18권4호
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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.

• Nuclear Engineering and Technology
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• 제55권2호
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• pp.749-755
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• 2023

A new approximation method was proposed for treating the non-resonant spatial self-shielding effects of double heterogeneous region such as the double heterogeneous effect of VHTR fuel compact in the thermal energy range and that of BP compact with BISO. The method was developed based on the effective homogenization method and a spherical unit cell model with explicit coated layers and a matrix layer. The self-shielding factor was derived from the relation between the collision probabilities for a double heterogeneous compact and the effective cross section for the homogenized compact. First, the collision probabilities and transmission probabilities for all layers of the spherical model were calculated using conventional collision probability solver. Then, the effective cross section for the homogenized sphere cell representing the homogenized compact was obtained from the transmission probability calculated using the probability density function of a chord length. The verification calculations revealed that the proposed method can predict the self-shielding factor with a maximum error of 2.3% and the double heterogeneous effect with a maximum error of 200 pcm in the typical VHTR problems with various packing fractions and BP compact sizes.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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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.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2022년도 제65차 동계학술대회논문집 30권1호
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• pp.373-376
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• 2022

본 논문에서는 삼각형 메쉬 기반에서 옷감 시뮬레이션(Cloth simulation)에서 계산양이 큰 자기충돌(Self-collision) 처리를 GPU기반으로 가속화시킬 수 있는 방법에 대해 소개한다. CUDA기반으로 병렬 최적화하기 위해 본 논문에서는 1)재귀적으로 계산하여 충돌판정을 하는 BVH(Bounding volume hierarchy) 트리를 GPU기반에서 효율적으로 빌드, 업데이트, 트리 순회하는 방법을 제안하고, 2)삼각형 메쉬 기반에서는 중복되는 프리미티브(Primitive) 충돌검사를 최소화하기 위해 R-Triangle기법을 GPU에서 최적화 시키는 방법을 소개한다. 결과적으로 본 논문에서 제안하는 기법은 GPU 환경에서 옷감 시뮬레이션의 자기충돌과 객체충돌 처리를 빠르고 효율적으로 처리할 수 있도록 하였고, 다양한 장면에서 실험한 결과 모든 결과에서 빠른 시뮬레이션 결과를 얻을 수 있었다.

• 한국산업융합학회 논문집
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• 제26권6_2호
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• pp.1047-1053
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• 2023

An experimental study was performed on the collision nozzle system that generates microbubble by air self-suction using a venturi nozzle. This study experimentally investigates the pressure of a pump and a dissolution tank, water flow rate, air self-suction amount and microbubble generation amount. The experimental conditions were varied by changing the diameter of the collision nozzle (d_e=4,5,6,7,8mm), the pumping power(0.5hp, 1.0hp) and the capacity of the dissolution tank(4.4L, 8/8L). The pressure change of the pump according to the outlet diameter of the collision nozzle showed that the 1.0hp pump power operated more stably than the 0.5hp pump. The pressure change in the dissolution tank was shown to decrease rapidly as the outlet diameter of the nozzle increased. The flow rate of recirculating water was shown to increase as the nozzle diameter increased. Additionally, it was shown that the pump capacity of 1.0hp increased the flow rate more than that of 0.5hp. The self-suction air flow rate was shown to occur above d_e=6mm, and the air flow rate increased as the nozzle diameter increased. Also, as the pump capacity increased, the self-suction amount of air increased. It was shown that the amount of microbubble less than 50mm generated was maximum when the nozzle diameter was 6mm, the pump power was 1.0hp, and the dissolution tank capacity was 8.8L.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 Asia Navigation Conference
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• pp.176-183
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• 2006

A novel intelligent anti-collision decision-making supporting system is addressed in this paper. To obtain precise anti-collision information capability, an innovative neurofuzzy network is proposed and applied. A fuzzy set interpretation is incorporated into the network design to handle imprecise information. A neural network architecture is used to train the parameters of the Fuzzy Inference System (FIS). The learning process is based on a hybrid learning algorithm and off-line training data. The training data are obtained by trial manoeuvre. This neurofuzzy network can be considered to be a self-learning system with the ability to learn new information adaptively without forgetting old knowledge. This supporting system can decrease ship operators' burden to deal with bridge data and help them to make a precise anti-collision decision.

• 로봇학회논문지
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• 제17권1호
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• pp.32-39
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• 2022

Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.