{"id":"https://openalex.org/W1969098212","doi":"https://doi.org/10.1017/s0263574714000939","title":"Simulation-based fast collision detection for scaled polyhedral objects in motion by exploiting analytical contact equations","display_name":"Simulation-based fast collision detection for scaled polyhedral objects in motion by exploiting analytical contact equations","publication_year":2014,"publication_date":"2014-08-08","ids":{"openalex":"https://openalex.org/W1969098212","doi":"https://doi.org/10.1017/s0263574714000939","mag":"1969098212"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714000939","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714000939","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034523100","display_name":"Jing\u2010Sin Liu","orcid":"https://orcid.org/0000-0002-4935-8965"},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]},{"id":"https://openalex.org/I84653119","display_name":"Academia Sinica","ror":"https://ror.org/05bxb3784","country_code":"TW","type":"facility","lineage":["https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Jing-Sin Liu","raw_affiliation_strings":["Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan 115, Republic of China","\u2020Institute of Information Science,Academia Sinica,Nangang,Taipei,Taiwan 115,Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Nangang, Taipei, Taiwan 115, Republic of China","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"\u2020Institute of Information Science,Academia Sinica,Nangang,Taipei,Taiwan 115,Republic of China","institution_ids":["https://openalex.org/I84653119"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005049752","display_name":"Wen-Hua Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I153512688","display_name":"National Taiwan Ocean University","ror":"https://ror.org/03bvvnt49","country_code":"TW","type":"education","lineage":["https://openalex.org/I153512688"]},{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wen-Hua Pan","raw_affiliation_strings":["Department of Engineering Science and Ocean Engineering, National Taiwan University, Taipei, Taiwan 105, Republic of China","\u2021Department of Engineering Science and Ocean Engineering,National Taiwan University,Taipei,Taiwan 105,Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Science and Ocean Engineering, National Taiwan University, Taipei, Taiwan 105, Republic of China","institution_ids":["https://openalex.org/I153512688"]},{"raw_affiliation_string":"\u2021Department of Engineering Science and Ocean Engineering,National Taiwan University,Taipei,Taiwan 105,Republic of China","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016792286","display_name":"Wen-Yang Ku","orcid":"https://orcid.org/0000-0002-1707-8547"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wen-Yang Ku","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada","Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037753252","display_name":"Yi Hsiang Tsao","orcid":null},"institutions":[{"id":"https://openalex.org/I173093425","display_name":"Chang Gung University","ror":"https://ror.org/00d80zx46","country_code":"TW","type":"education","lineage":["https://openalex.org/I173093425"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Y.-H. Tsao","raw_affiliation_strings":["Department of Mechanical Engineering, Chang Gung University, Tao-Yuan, Taiwan 333, Republic of China","\u00b6Department of Mechanical Engineering,Chang Gung University,Tao-Yuan,Taiwan 333,Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Chang Gung University, Tao-Yuan, Taiwan 333, Republic of China","institution_ids":["https://openalex.org/I173093425"]},{"raw_affiliation_string":"\u00b6Department of Mechanical Engineering,Chang Gung University,Tao-Yuan,Taiwan 333,Republic of China","institution_ids":["https://openalex.org/I173093425"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008305605","display_name":"Yau\u2010Zen Chang","orcid":"https://orcid.org/0000-0001-7907-3672"},"institutions":[{"id":"https://openalex.org/I173093425","display_name":"Chang Gung University","ror":"https://ror.org/00d80zx46","country_code":"TW","type":"education","lineage":["https://openalex.org/I173093425"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Y.-Z. Chang","raw_affiliation_strings":["Department of Mechanical Engineering, Chang Gung University, Tao-Yuan, Taiwan 333, Republic of China","\u00b6Department of Mechanical Engineering,Chang Gung University,Tao-Yuan,Taiwan 333,Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Chang Gung University, Tao-Yuan, Taiwan 333, Republic of China","institution_ids":["https://openalex.org/I173093425"]},{"raw_affiliation_string":"\u00b6Department of Mechanical Engineering,Chang Gung University,Tao-Yuan,Taiwan 333,Republic of China","institution_ids":["https://openalex.org/I173093425"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5034523100"],"corresponding_institution_ids":["https://openalex.org/I4210098366","https://openalex.org/I84653119"],"apc_list":{"value":3550,"currency":"USD","value_usd":3550},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.05478803,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"34","issue":"1","first_page":"118","last_page":"134"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.79961097240448},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.7802098393440247},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.648905336856842},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.63592928647995},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5411294102668762},{"id":"https://openalex.org/keywords/polyhedron","display_name":"Polyhedron","score":0.5308887362480164},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5095932483673096},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4842833876609802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.483151376247406},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4615829586982727},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4536343514919281},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33767861127853394},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.33187252283096313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29800137877464294}],"concepts":[{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.79961097240448},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.7802098393440247},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.648905336856842},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.63592928647995},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5411294102668762},{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.5308887362480164},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5095932483673096},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4842833876609802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.483151376247406},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4615829586982727},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4536343514919281},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33767861127853394},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.33187252283096313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29800137877464294},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574714000939","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714000939","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W10899980","https://openalex.org/W599341852","https://openalex.org/W1424654272","https://openalex.org/W1497695555","https://openalex.org/W1525376093","https://openalex.org/W1972741546","https://openalex.org/W1990451985","https://openalex.org/W2005102720","https://openalex.org/W2009641409","https://openalex.org/W2012988836","https://openalex.org/W2025084366","https://openalex.org/W2025788474","https://openalex.org/W2061051841","https://openalex.org/W2071005771","https://openalex.org/W2107454656","https://openalex.org/W2108342302","https://openalex.org/W2109921267","https://openalex.org/W2111557705","https://openalex.org/W2133321459","https://openalex.org/W2143100222","https://openalex.org/W2144274577","https://openalex.org/W2154886026","https://openalex.org/W2159622977","https://openalex.org/W2166076133","https://openalex.org/W2166316739","https://openalex.org/W2188845911","https://openalex.org/W2611243847","https://openalex.org/W3105411026"],"related_works":["https://openalex.org/W2383422787","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W4379525781","https://openalex.org/W2971340537","https://openalex.org/W2797788337"],"abstract_inverted_index":{"SUMMARY":[0],"Based":[1],"on":[2,84],"the":[3,6,32,50,68,80,113,134,148,192],"results":[4],"of":[5,8,18,34,38,41,53,67,79,92,105],"study":[7],"convex":[9,43],"object":[10],"motion1":[11],"(J.":[12],"Hopcroft":[13],"and":[14,48,62,64,142,179,187],"G.":[15],"Wilfong,":[16],"\u201cMotion":[17],"objects":[19,69,106,161],"in":[20,45,206],"contact,\u201d":[21],"Int.":[22],"J.":[23],"Robot.":[24],"Res.,":[25],"4(4),":[26],"32\u201346":[27],"(1986)),":[28],"this":[29],"paper":[30],"addresses":[31],"problem":[33],"exact":[35],"collision":[36,144,194],"detection":[37,145,195],"a":[39,71,76,90,96,103,108,128],"pair":[40,104,118],"scaled":[42,160],"polyhedra":[44],"relative":[46,58,182],"motion,":[47],"determines":[49],"contact":[51,55,86,116,123,140,164,168],"conditions":[52],"tangential":[54,115,122,167],"features,":[56],"arbitrary":[57],"motion":[59,183,204],"involving":[60],"translation":[61],"rotation,":[63],"uniform":[65,176],"scaling":[66,93,98,109,177],"about":[70],"fixed":[72],"point.":[73],"We":[74,126],"propose":[75,127],"new":[77],"concept":[78],"decision":[81,135],"curve":[82,136],"based":[83],"analytical":[85,139],"equations":[87,141],"that":[88,102],"characterize":[89],"continuum":[91],"factors":[94,178],"(or":[95,119],"single":[97],"factor),":[99],"which":[100],"ensures":[101],"undergoing":[107],"transformation":[110],"will":[111,162],"maintain":[112],"same":[114],"feature":[117,124],"make":[120,163],"instantaneous":[121],"transitions).":[125],"reliable":[129],"simulation-based":[130],"approach":[131,201],"to":[132],"construct":[133],"by":[137],"hybridizing":[138],"conventional":[143],"method,":[146],"called":[147],"Fast":[149],"Collision":[150],"Detection":[151],"Method":[152],"(FCDM).":[153],"This":[154],"method":[155],"can":[156],"determine":[157],"whether":[158],"two":[159],"at":[165],"specific":[166],"features":[169],"(vertices,":[170],"edges,":[171],"or":[172],"faces)":[173],"under":[174],"particular":[175],"after":[180],"distinctive":[181],"with":[184],"better":[185],"accuracy":[186],"less":[188],"computational":[189],"time":[190],"than":[191],"existing":[193],"methods.":[196],"Finally,":[197],"we":[198],"demonstrate":[199],"our":[200],"for":[202],"solving":[203],"design":[205],"simple":[207],"assembly/disassembly":[208],"problems.":[209]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
