Design of ANTI-Collision System for Robotics

2013 ◽  
Vol 325-326 ◽  
pp. 1071-1075
Author(s):  
Viera Poppeová ◽  
Juraj Uríček ◽  
Vladimír Bulej ◽  
Peter Havlas
Keyword(s):  
Collision Avoidance ◽  
Collision Detection ◽  
Important Task ◽  
Robotic Device ◽  
Collision System ◽  
Worst Case ◽  
Practical Solution ◽  
Real Application

This paper deals with the solving of collision detection in area of robotics. Collisions in robotics can cause damaging of robotic device, manipulated objects or in the worst case also the death of human. This is the reason why collision detection and collision avoidance is very important task and nowadays also the modern research is focused on finding of appropriate solving methods and tools. In the paper is described the theoretical introduction, practical solution and also real application.

Dynamic Collision Detection Using Space Partitioning

1990 ◽  
Author(s):  
M. A. Ganter ◽  
B. P. Isarankura
Keyword(s):  
Collision Detection ◽  
Computation Time ◽  
Local Region ◽  
Detection Time ◽  
Space Partitioning ◽  
Worst Case ◽  
Simulated Environment ◽  
Time Required ◽  
Six Degree Of Freedom ◽  
Partitioning Technique

Abstract A technique termed space partitioning is employed which dramatically reduces the computation time required to detect dynamic collision during computer simulation. The simulated environment is composed of two nonconvex polyhedra traversing two general six degree of freedom trajectories. This space partitioning technique reduces collision detection time by subdividing the space containing a given object into a set of linear partitions. Using these partitions, all testing can be confined to the local region of overlap between the two objects. Further, all entities contained in the partitions inside the region of overlap are ordered based on their respective minimums and maximums to further reduce testing. Experimental results indicate a worst-case collision detection time for two one thousand faced objects is approximately three seconds per trajectory step.

scholarly journals A Kinematic Collision Box Algorithm Applied for the Anti-Collision System of Offshore Drilling Vessels

2020 ◽  
Vol 8 (6) ◽  
pp. 420 ◽  
Author(s):  
Duy Thanh Nguyen ◽  
Kwang Hyo Jung ◽  
Ki-Youn Kwon ◽  
Namkug Ku ◽  
Jaeyong Lee
Keyword(s):  
Collision Avoidance ◽  
Maximum Velocity ◽  
Collision System ◽  
Time Data ◽  
Offshore Drilling ◽  
Visual Model ◽  
Bounding Box ◽  
Drilling System ◽  
And Robotics ◽  
Conventional Algorithm

With the advances in technology and the automation of drilling platforms, the Anti-Collision System (ACS) has appeared as an affordable technology, which is intended to keep equipment on the drilling floor working harmoniously and to prevent the potential hazards associated with accidents. However, the specialty of the machinery on the drilling floor requires a distinguished structure for the ACS and a reliable collision-avoidance algorithm, which is not similar to any algorithm in other applications, such as automobiles and robotics. The aim of this paper is to provide a comprehension of the configuration of an ACS in an Integrated Drilling System and to develop a practical anti-collision algorithm that can be applied to the machine arrangement for an offshore drilling operation. By analyzing the motions and using kinematic parameters, such as the speed and deceleration information of drilling equipment, a kinematic collision box algorithm is developed to eliminate the limitation of conventional algorithms. While the conventional collision-avoidance algorithm uses a collision box with fixed size, the kinematic collision box algorithm uses a collision box with a flexible scale that can be correspond to the velocity and deceleration rate of the equipment. Several operating scenarios are simulated by a visual model of ACS to authenticate the functionality of the proposed algorithm. The operation of the top drive is an outstanding scenario. Only 2.25 s are required to stop the top drive from its maximum velocity, and a conventional algorithm uses this number to create a fixed bounding box. Also, the kinematic collision box algorithm uses the real-time data of velocity and acceleration to adjust the scale of the bounding box when the speed of the top drive increases from 0 to its maximum value. The simulation result illustrates the reliability and advances of the kinematic collision box algorithm in performing the collision-avoidance function in ACS compared to the conventional algorithm.

Preparation and Research on a Kind of Magnetorheological Grease Materiel Used Anti-Collision System

2017 ◽  
Vol 893 ◽  
pp. 395-399 ◽  
Author(s):  
Jing Ge ◽  
Chao Jiang ◽  
Guo Jun Yu ◽  
Bo Su ◽  
Tiger Sun
Keyword(s):  
Mechanical Properties ◽  
Collision Avoidance ◽  
Research Topic ◽  
Bridge Pier ◽  
Collision System ◽  
Research Directions ◽  
Main Research ◽  
Intelligent Material ◽  
Collision Avoidance System ◽  
Actual Size

Bridge pier collision avoidance system is a hot research topic. As the representative of the intelligent material, the Magnetorheological Grease has become one of the main research directions in the research of bridge pier collision due to its special mechanical properties and rheological properties. In this work, we present a bridge pier collision avoidance system using Magnetorheological Grease Material. Firstly, according to the characteristics of bridge pier collision, a series of Magnetorheological Grease Material are configured, and then the collision avoidance structure of the actual size of the bridge pier is given. The structure can be directly applied to the bridge pier collision avoidance. Secondly the experimental characteristics of the Magnetorheological Grease Material are given, and the experimental results are analyzed. The strong theoretical guidance and engineering basis were provided for the related scientific and technical workers and researchers.

Simulation of Collision Situations in RobotStudio

2014 ◽  
Vol 613 ◽  
pp. 325-329
Author(s):  
Lenka Baločková ◽  
Erik Prada ◽  
Attila Titka ◽  
Tomáš Lipták
Keyword(s):  
Collision Detection ◽  
Component Part ◽  
Robotic Device ◽  
Spatial Simulation ◽  
Detection Function ◽  
Stationary Part ◽  
Collision Condition

The article deals with the problem of the collision condition of robotic device, which is possible to be revealed by spatial simulation. In addressing the collision condition, RobotStudio program was used. It includes collision detection functions. Collision detection function automatically monitors objects and indicates the collision, which may arise during the operation of the robot. In my case, collision condition occurs between the stationary part, which is a component part and moving part, which is a burner.

scholarly journals Selected elements of visual inspection of the collision avoidance system for light and unmanned aircraft

2019 ◽  
Vol 20 (1-2) ◽  
pp. 265-271 ◽  
Author(s):  
Grzegorz Jaromi ◽  
Damian Kordos ◽  
Tomasz Rogalski ◽  
Paweł Rzucidło ◽  
Piotr Szczerba
Keyword(s):  
Image Processing ◽  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Main Part ◽  
Visual Inspection ◽  
Unmanned Aircraft ◽  
Collision System ◽  
Aerial Vehicles ◽  
Collision Avoidance System ◽  
Formal Requirements

The work discusses selected elements of research and practical tests of the vision anti-collision system, designed for ultralight and light aircraft and unmanned aerial vehicles. At the outset, current formal requirements related to the necessity of installing anti-collision systems on aircraft are presented. The concept of IDAAS (Intruder Detection And collision Avoidance System for light aircraft) and the structure of algorithms related to image processing were presented. The main part of the work is to discuss the selected scenarios implemented during the research.

Study and Development of Vehicle Collision Detection System

2014 ◽  
Author(s):  
Alemayehu W. Huluka ◽  
Hirpa G. Lemu
Keyword(s):  
Collision Detection ◽  
Detection System ◽  
Research Work ◽  
Electronic Systems ◽  
Tolerance Range ◽  
Collision System ◽  
Safe Distance ◽  
Dynamic Information ◽  
Vehicle Accident ◽  
Vehicle Collision

In order to reduce the alarmingly increasing vehicle accident worldwide, developing collision detection system has been an endeavor of engineers within the last 3–4 decades. Based on the vehicles’ speed and acceleration, detecting the safe distance is one of the approaches reported in research results and claimed patents. As speed and acceleration of both the involved vehicles is changing with time, developing effective algorithms that can capture and process sufficient dynamic information and then warn for or take appropriate action is demanded. One possible approach that can contribute to the effort of minimizing vehicle collision accidents is to use embedded electronic systems to control the speed of the vehicle(s). Accordingly, the study and research work reported in this article focuses on developing a model of rear-end anti-collision system that can detect the distance between two vehicles moving on the same lane in the same direction and alert the driver whenever danger is eminent within certain tolerance range.

REAL-TIME SELF-COLLISION AVOIDANCE SYSTEM FOR ROBOTS USING ROBE

2004 ◽  
Vol 01 (03) ◽  
pp. 533-550 ◽  
Author(s):  
FUMI SETO ◽  
KAZUHIRO KOSUGE ◽  
YASUHISA HIRATA
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Collision Avoidance ◽  
Collision Detection ◽  
Reaction Force ◽  
Collision Avoidance System ◽  
Representation Method ◽  
Elastic Elements

In this paper, we propose a real-time self-collision avoidance system for robots which cooperate with a human/humans. First, the robot is represented by elastic elements. The representation method is referred to as RoBE (Representation of Body by Elastic elements). Elastic balls and cylinders are used as the elements to simplify collision detection, although elements of any shape could be used for RoBE. When two elements collide with each other, a reaction force is generated between them, and self-collision avoidance motion is generated by the reaction force. Experiments using the mobile robot with dual manipulators, referred to as MR Helper, illustrate the validity of the proposed system.

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