This paper analyzes the problem of sensor-based collision detection for an industrial robotic manipulator. A method to perform collision tests based on images taken from several stationary cameras in the work cell is presented. The collision test works entirely based on the images, and does not construct a representation of the Cartesian space. It is shown how to perform a collision test for al...

We propose a novel adaptive pipeline for continuous collision detection in cloth simulation. The pipeline consists of four components: bounding volume hierarchy (BVH) update, BVH traversal, a skipping frame session, and elementary test processing. The skipping frame session is activated adaptively for skipping both BVH update and BVH traversal during the process of collision detection. The prop...

A collision-free motion planning method for mobile robots moving in three-dimensional workspace is proposed in this article. To simplify the mathematical representation and reduce the computation complexity for collision detection, objects in the workspace are modeled as ellipsoids. By means of applying a series of coordinate and scaling transformations between the robot and the obstacles in th...

The problem of a two-phase dispersed medium is studied within the kinetic theory. In the case of small and undeformable spheres that have all the same radius, a model for the collision operator of the Boltzmann equation is proposed. The collisions are supposed instantaneous, binary and inelastic. The obtained collision operator allows, to prove the existence of an H theorem in several configura...

A simple time delay method for avoiding collisions betweentwo general robot arms is proposed. Links of the robots are approximatedby polyhedra and the danger of collision between two robots is expressedby distance functions defined between the robots. The collision mapscheme, which can describe collisions between two robots effectively, isadopted. The minimum delay time valu...

This paper implements efficient techniques for cloth simulation in the area of cloth model, numerical integration, collision detection and response. The whole procedure combines the accurate bending model with implicit integration and collision response. Collision response remains a serious difficulty in cloth simulation, especially with implicit integration. We propose a general scheme that in...

Virtual reality applications refer to the use of computers to simulate a physical environment in such a way that humans can readily visualize, explore, and interact with “objects” in this environment. The design of virtual scenes requires realistic physically based simulation algorithms and in particular efficient collision detection routines. Collision detection prevent penetrations between ob...

The potential use of systems that seek to communicate a warning of impending collision directly to the driver is examined. Technological advances in collision-warning systems include reliable, low-cost radars, sensors with low noise levels, and the development of accurate detection algorithms for particular crash types, e.g. rear-end collisions. However, fundamental practical constraints make p...

A new tandem time-of-flight (TOF-TOF) instrument has been developed by modifying a standard matrix-assisted laser desorption ionization (MALDI)-TOF instrument to make high-performance, high-energy collision-induced dissociation (CID) MALDI tandem mass spectrometry (MS) a practical reality. To optimize fragment spectra quality, the selected precursor ion is decelerated before entering a floating...

ion–atom collision processes is important in atomic physics. It helps us fundamentally understand particle interactions and the corresponding dynamics for applications in many subfields, such as fusion sciences, astrophysics, and material sciences. Furthermore, it presents an interesting problem as the basic physics. Energetic collision of two particles can produce processes; for example, ion– ...