• International Journal of Control, Automation, and Systems
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• 제4권4호
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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.

• 융합신호처리학회논문지
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• 제7권4호
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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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• 제어로봇시스템학회 2005년도 ICCAS
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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.

• 대한기계학회논문집
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• 제15권1호
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• pp.179-189
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• 1991

본 연구에서는 특성근이 같은 같은 경우의 기본해 유도에서 사용하였던 상사 방법을 이용하여, 균열끝 부근의 응력장과 변위장을 나타내고자 한다. 위의 해석을 바탕으로 개발한 프로그램의 정도에 대하여 검증하고, 이 프로그램을 복합재료 내의 균열 문제에 응용하여 응력확대계수에 관한 자료를 계산하고, 그 유용성을 검토하고자 한다.

• 대한전자공학회논문지TC
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• 제46권2호
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• pp.134-140
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• 2009

본 논문에서는 마이크로스트립구조에서 $3.1{\times}10.6GHz$대역의 UWB 통신을 위한 사다리꼴 안테나모델에 대해 광대역화를 검토하였다. 두 사다리꼴의 마이크로스트립패치 치수를 서로 다르게 한 모노폴의 사다리꼴안테나 모델에 대해 컴퓨터 시뮬레이션을 통하여 UWB의 대역폭에서 반사손실 -10dB(VSWR<2)이하의 임피던스 정합특성을 보이는 안테나의 동작특성을 나타내 보였다. 또한, 본 논문에서 구한 최적화 안테나는 UWB의 전 대역에서 선형위상과 수평면내에서 대체로 무지향 방사특성을 나타내 보인다.

• 한국추진공학회지
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• 제1권1호
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• pp.111-121
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• 1997

본 연구에서는 탄소/에폭시 복합재료의 기계적 결합부위의 결합강도 예측을 위한 구조해석과 실험을 수행하였다. 복합재료 구조물의 Joint설계에 있어 베어링 파괴는 대단히 중요한 파괴형태 중하나이다. 그래서 본 연구에서는 베어링 파괴를 해석적으로 예측하고 실험적으로 확인하였다. 순수인장 파괴(Net Tension Failure)와 베어링 파괴(Bearing Failure) 실험을 위해서 각각 두 가지 형상의 시편을 선택하였다. 기계적 결합강도 예측에 사용된 방법은 특성길이(Characteristic Length)법과 연관시킨 Yamada-Sun 파괴기준(Failure Criterion)과 Tsai-Hill 최대일 이론이다. 그리고 인장특성길이와 압축특성길이는 실험을 통하여 얻어지며, 특히 압축특성길이 결정은 최근에 착안된 베어링파괴 실험으로부터 결정하였다. 위와 같은 예측 방법을 준등방성(Quasi-Isotropic) Carbon/Epoxy HT245/RS3232에 적용하였다. 연구결과, 이론적인 복합재료 파괴예측이 실험결과와 잘 일치함을 확인할 수 있었다.

• 오토저널
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• 제12권2호
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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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• 제12권5호
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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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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 대한기계학회논문집
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• 제17권2호
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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.