• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.486-494
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• 2006

In this paper, we present the complete isotropy analysis of a caster wheeled omnidirectional mobile robot (COMR) with nonredundant/redundant actuation. It is desirable for robust motion control to keep a COMR close to the isotropy but away from the singularity as much as possible. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which specify the wheel configuration. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived so as to identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations, the isotropic characteristic length, and the optimal initial configuration are discussed.

• Journal of the Institute of Convergence Signal Processing
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• v.7 no.4
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• pp.214-220
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• 2006

This paper presents the systematic isotropy analysis of a fully actuated caster wheeled omnidirectional mobile robot (COMR) with the steering link offset different from the wheel radius, which can be considered as the generalization of the previous analysis. First with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, the necessary and sufficient conditions for the isotropy of a COMR are derived and examined to categorize there different groups, each of which can be dealt with in a similar way. Third, for each group, the isotropy conditions are further explored so as to identify four different sets of all possible isotropic configurations. Fourth, for each set the expressions of the isotropic characteristic length required for the isotropy of a COMR are elaborated.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2356-2361
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• 2005

In this paper, we present a complete isotropy analysis of a caster wheeled omnidirectional mobile robot(COMR) with nonredundant/redundant actuation. The motivation of this work is that the omnidirectional mobility loses significance in motion control unless the isotropy characteristics is maintained well. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which describe the wheel configurations. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived to completely identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations and the characteristic length required for the isotropy are discussed.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.179-189
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• 1991

Composite materials are generally treated as anisotropic or an orthotropic materials. Unlike isotropic materials, the orthotropic materials can divided three groups depending upon the relationship of the four material constants or depending upon the characteristic roots of orthotropic materials. In particular, the fundamental solutions of two dimensional BEM for composite materials (orthotropic or anisotropic material) generally have a singularity in the conventional method when the characteristic roots are equal. In consideration of this singularity in the conventional method when the characteristic roots are equal. In consideration of this singular problems, in this paper, the fundamental solutions of BEM are systematically analysed for orthotropic materials. And the stress and displacement fields for a crack in an orthotropic materials are singular when the characteristic roots of orthotropic materials are equal. Therefore, these fields for a crack in an orthotropic materials are analysed by the analogous method to isotropic materials when the characteristic roots are equal.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.2
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• pp.134-140
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• 2009

In this paper, we discussed the trapezoidal antenna model in the microstrip structure for UWB communications in the frequency band of $3.1{\times}10.6GHz$. Through the computer simulations for the difference size of trapezoidal monopole microstrip antenna model, the good impedance matching characteristic of return loss less than -10dB(VSWR<2) in all the band of UWB showed. The optimized antenna of this paper also showed the quasi-isotropic radiation characteristics in the horizontal plane and linear phase characteristic of nondispersive property.

• Journal of the Korean Society of Propulsion Engineers
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• v.1 no.1
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• pp.111-121
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• 1997

An investigation was performed to study the predicting the joint strength of mechanical fasteners. Bearing failure is most important failure mode for designing joint. So in this study, the prediction method in consideration with bearing failure was chosen. In the proposed method, the characteristic length is combined with the Yamada-Sun failure criterion, Tsai-Hill failure criterion and characteristic length for Tension and Compression is determined from investigation. Especially the length of compression is determined from the "bearing failure test" that newly conceived to take bearing failure into consideration. The proposed prediction method was applied to quasi-isotropic carbon/epoxy joint showing net-tension and bearing failure experimentally. Good agreement was found between the predicted and experimental result for each joint geometry. geometry.

• Journal of the korean Society of Automotive Engineers
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• v.12 no.2
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• pp.51-58
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• 1990

According to the developments of various composite materials, it seems to be very important to evaluate the strength and fracture behavior of composite materials. When the composite material is considered as orthotropic material, the characteristic equation of orthotropic material have complex roots. If characteristic roots are equal, the fundamental solutions of BEM become singular ones. This paper analyse the fundamental solutions of the singular problem of orthotropic material using the analogous method to isotropic material.

• Computers and Concrete
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• v.12 no.5
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• pp.585-612
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• 2013

The paper presents quasi-static numerical simulations of the behaviour of short reinforced concrete beams without shear reinforcement under mixed shear-tension failure using the FEM and four various constitutive continuum models for concrete. First, an isotropic elasto-plastic model with a Drucker-Prager criterion defined in compression and with a Rankine criterion defined in tension was used. Next, an anisotropic smeared crack and isotropic damage model were applied. Finally, an elasto-plastic-damage model was used. To ensure mesh-independent FE results, to describe strain localization in concrete and to capture a deterministic size effect, all models were enhanced in a softening regime by a characteristic length of micro-structure by means of a non-local theory. Bond-slip between concrete and reinforcement was considered. The numerical results were directly compared with the corresponding laboratory tests performed by Walraven and Lehwalter (1994). The advantages and disadvantages of enhanced models to model the reinforced concrete behaviour were outlined.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2066-2071
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• 2003

In this paper, we identify the isotropic configurations of an omnidirectional mobile robot with three caster wheels, depending on the selection of actuated joints. First, We obtain the kinematic model of a caster wheeled omnidirectional mobile robot(COMR) without matrix inversion. For a given task velocity, the instantaneous motion of each wheel is decomposed into two orthogonal instantaneous motions of the steering and the rotating joints. Second, with the characteristic length introduced, we derive the isotropy conditions of a COMR having $n({\ge}3)$ actuated joints, which are imposed on two Jacobian matrices, $A{\in}R^{n{\times}3}$ and $B{\in}R^{6{\times}6}$. Under the condition of $B{\propto}I_6$, three caster wheels should have identical structure with the length of the steering link equal to the radius of the wheel. Third, depending on the selection of actuated joints, we derive the conditions for $A^t$ $A{\propto}I_3$ and identify the isotropic configurations of a COMR. All possible actuation sets with different number of actuated joints and different combination of rotating and steering joins are considered.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.2
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• pp.359-370
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• 1993

Up to now, most studies are on interface crack problems in isotropic-isotropic dissimilar materials, but it seems to be not so much on anisotropic dissimlar materials. In this study, the stress intensity factors for an interface crack in anisotropic dissimilar materials are analysed using author's proposed extrapolation method by BEM and we have done a parametric study about material properties or shapes of crack affecting to the stress intensity factors. However, as there are not other's comparable numerical results on these anisotropic dissimilar materials to the best of author's knowledge, the reliability of the present results was proved by following two methods. The first is considering the asymptotic characteristic about stress intensity factors for an interface crack in anisotropic materials when the ansiotropic material approachs to the isotropic material. The second is considering the discontinuity of stress intensity factors between of a crack in an identical homogeneous anisotropic material and an interface crack in anisotropic dissimilar materials.