• Journal of the Institute of Convergence Signal Processing
• /
• v.7 no.1
• /
• pp.38-44
• /
• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.

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

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.12
• /
• pp.1235-1240
• /
• 2006

Previous isotropy analysis of a caster wheeled omnidirectional mobile robot(COMR) has been made under the assumption that the steering link offset is equal to the caster wheel radius. Nevertheless, many practical COMR's in use take advantage of the steering link offset different from the wheel radius, mainly because of improved stability. This paper presents the isotropy analysis of a fully actuated COMR with variable steering link offset, which can be considered as the generalization of the previous analysis. First, the kinematic model of a COMR under full actuation 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 three 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 all possible isotropic configurations completely.

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

• International Journal of Control, Automation, and Systems
• /
• v.4 no.4
• /
• pp.486-494
• /
• 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 Korean Society of Safety
• /
• v.12 no.3
• /
• pp.52-59
• /
• 1997

Hill's anisotropy theory and isotropy theory under the deformed profile assumed two separate cases(that is circular and ellipitical) are applied to predict the plastic deformation characteristics of bulge, the strain and polar height under instability condition, using thin square diaphragms of stainless steel, mild steel, brass, copper and aluminum. In this study it was found that the pressure-polar height curves, and the polar height-the polar radius of curvature curve, under anisotropy theory and isotropy theory, assuming a circle profile, agree well with the experimental results, and the equivalent strains of the instability condition under anisotropy theory are better good agreement with the experimental results than those of the instability condition under isotropy theory. Beside, FLCo(plane Strain Intercept) obtained by Bethlehem FLC method and standard FLC method (modified) agree well with the experimental result.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.5
• /
• pp.495-502
• /
• 2004

In this paper, kinematic structure of parallel manipulator having 6-DOF is determined to follow the specific trajectory represented by several curves expressed by the parametric variable functions. In addition, the parallel manipulator is designed to have a high dexterity by considering a kinematic isotropy which can stabilize the motion of the moving platform in the restricted workspace.

• Journal of the Chungcheong Mathematical Society
• /
• v.24 no.2
• /
• pp.319-335
• /
• 2011

We classify equivariant topoligical complex vector bundles over real projective plane under a compact Lie group (not necessarily effective) action. It is shown that nonequivariant Chern classes and isotropy representations at (at most) three points are sufficient to classify equivariant vector bundles over real projective plane except one case. To do it, we relate the problem to classification on two-sphere through the covering map because equivariant vector bundles over two-sphere have been already classified.

• The Korean Journal of Applied Statistics
• /
• v.27 no.5
• /
• pp.755-771
• /
• 2014

Isotropy is one of the main assumptions for the ease of spatial prediction (named kriging) based on some covariance models. A lack of isotropy (or anisotropy) in a spatial process necessitates that some additional parameters (angle and ratio) for anisotropic covariance model be obtained in order to produce a more reliable prediction. In this paper, we propose a new class of geometrically extended anisotropic covariance models expressed as a weighted average of some geometrically anisotropic models. The maximum likelihood estimation method is taken into account to estimate the parameters of our interest. We evaluate the performances of our proposal and compare it with an isotropic covariance model and a geometrically anisotropic model in simulation studies. We also employ extended geometric anisotropy to the analysis of real data.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.23 no.8
• /
• pp.1063-1071
• /
• 1999

Fine grid calculations are reported for the developing turbulent flow in a curved duct of square cross-section with a radius of curvature to hydraulic diameter ratio ${\delta}=Rc/D_H=3.357 $ and a bend angle of 720 deg. A sequence of modeling refinements is introduced; the replacement of wall function by a fine mesh across the sublayer and a low Reynolds number algebraic second moment closure up to the near wall sublayer in which the non-linear return to isotropy model and the cubic-quasi-isotropy model for the pressure strain are adopted; and the introduction of a multiple source model for the exact dissipation rate equation. Each refinement is shown to lead to an appreciable improvement in the agreement between measurement and computation.