{"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":5,"corresponding_author_ids":["https://openalex.org/A5034523100"],"corresponding_institution_ids":["https://openalex.org/I4210098366","https://openalex.org/I84653119"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.04989191,"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":{"pdf":false,"grobid_xml":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":[2,87],"the":[3,6,35,53,71,83,116,137,151,195],"results":[4],"of":[5,8,19,37,41,44,56,70,82,95,108],"study":[7],"convex":[9,46],"object":[10],"motion":[11,62,186,207],"1":[12],"(J.":[13],"Hopcroft":[14],"and":[15,51,65,67,145,182,190],"G.":[16],"Wilfong,":[17],"\u201cMotion":[18],"objects":[20,72,109,164],"in":[21,48,209],"contact,\u201d":[22],"Int.":[23],"J.":[24],"Robot.":[25],"Res.":[26],",":[27],"4":[28],"(4),":[29],"32\u201346":[30],"(1986)),":[31],"this":[32],"paper":[33],"addresses":[34],"problem":[36],"exact":[38],"collision":[39,147,197],"detection":[40,148,198],"a":[42,74,79,93,99,106,111,131],"pair":[43,107,121],"scaled":[45,163],"polyhedra":[47],"relative":[49,61,185],"motion,":[50],"determines":[52],"contact":[54,58,89,119,126,143,167,171],"conditions":[55],"tangential":[57,118,125,170],"features,":[59],"arbitrary":[60],"involving":[63],"translation":[64],"rotation,":[66],"uniform":[68,179],"scaling":[69,96,101,112,180],"about":[73],"fixed":[75],"point.":[76],"We":[77,129],"propose":[78,130],"new":[80],"concept":[81],"decision":[84,138],"curve":[85,139],"based":[86],"analytical":[88,142],"equations":[90,144],"that":[91,105],"characterize":[92],"continuum":[94],"factors":[97,181],"(or":[98,122],"single":[100],"factor),":[102],"which":[103],"ensures":[104],"undergoing":[110],"transformation":[113],"will":[114,165],"maintain":[115],"same":[117],"feature":[120,127],"make":[123,166],"instantaneous":[124],"transitions).":[128],"reliable":[132],"simulation-based":[133],"approach":[134,204],"to":[135],"construct":[136],"by":[140],"hybridizing":[141],"conventional":[146],"method,":[149],"called":[150],"Fast":[152],"Collision":[153],"Detection":[154],"Method":[155],"(FCDM).":[156],"This":[157],"method":[158],"can":[159],"determine":[160],"whether":[161],"two":[162],"at":[168],"specific":[169],"features":[172],"(vertices,":[173],"edges,":[174],"or":[175],"faces)":[176],"under":[177],"particular":[178],"after":[183],"distinctive":[184],"with":[187],"better":[188],"accuracy":[189],"less":[191],"computational":[192],"time":[193],"than":[194],"existing":[196],"methods.":[199],"Finally,":[200],"we":[201],"demonstrate":[202],"our":[203],"for":[205],"solving":[206],"design":[208],"simple":[210],"assembly/disassembly":[211],"problems.":[212]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}