• ETRI Journal
• /
• v.36 no.6
• /
• pp.913-923
• /
• 2014

This paper proposes a global mapping algorithm for multiple robots from an omnidirectional-vision simultaneous localization and mapping (SLAM) approach based on an object extraction method using Lucas-Kanade optical flow motion detection and images obtained through fisheye lenses mounted on robots. The multi-robot mapping algorithm draws a global map by using map data obtained from all of the individual robots. Global mapping takes a long time to process because it exchanges map data from individual robots while searching all areas. An omnidirectional image sensor has many advantages for object detection and mapping because it can measure all information around a robot simultaneously. The process calculations of the correction algorithm are improved over existing methods by correcting only the object's feature points. The proposed algorithm has two steps: first, a local map is created based on an omnidirectional-vision SLAM approach for individual robots. Second, a global map is generated by merging individual maps from multiple robots. The reliability of the proposed mapping algorithm is verified through a comparison of maps based on the proposed algorithm and real maps.

• Advances in nano research
• /
• v.4 no.4
• /
• pp.251-264
• /
• 2016

In this paper, a simple and refined nonlocal hyperbolic higher-order beam theory is proposed for bending and vibration response of nanoscale beams. The present formulation incorporates the nonlocal scale parameter which can capture the small scale effect, and it considers both shear deformation and thickness stretching effects by a hyperbolic variation of all displacements across the thickness without employing shear correction factor. The highlight of this formulation is that, in addition to modeling the displacement field with only two unknowns, the thickness stretching effect (${\varepsilon}_z{\neq}0$) is also included in the present model. By utilizing the Hamilton's principle and the nonlocal differential constitutive relations of Eringen, the equations of motion of the nanoscale beam are reformulated. Verification studies demonstrate that the developed theory is not only more accurate than the refined nonlocal beam theory, but also comparable with the higher-order shear deformation theories which contain more number of unknowns. The theoretical formulation proposed herein may serve as a reference for nonlocal theories as applied to the static and dynamic responses of complex-nanobeam-system such as complex carbon nanotube system.

• Structural Engineering and Mechanics
• /
• v.66 no.1
• /
• pp.61-73
• /
• 2018

In this article, a higher shear deformation theory (HSDT) is improved to consider the influence of thickness stretching in functionally graded (FG) plates. The proposed HSDT has fewer numbers of variables and equations of motion than the first-order shear deformation theory (FSDT), but considers the transverse shear deformation influences without requiring shear correction coefficients. The kinematic of the present improved HSDT is modified by considering undetermined integral terms in in-plane displacements and a parabolic distribution of the vertical displacement within the thickness, and consequently, the thickness stretching influence is taken into account. Analytical solutions of simply supported FG plates are found, and the computed results are compared with 3D solutions and those generated by other HSDTs. Verification examples demonstrate that the developed theory is not only more accurate than the refined plate theory, but also comparable with the HSDTs which use more number of variables.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.18 no.6
• /
• pp.642-651
• /
• 2009

The history of excavator design is not long enough which still causes most of the design considerations to be focused on static analysis or simple functional improvement based on static analysis. However, the real forces experiencing on each component of excavator are highly transient and impulsive. Therefore, the prediction and the evaluation of the movement of the excavator by dynamic load in the early design stage through the dynamic transient analysis of the excavator and ensuring of design technique plays an importance role to reduce development-cost, shorten product-deliver, decrease vehicle-weight and optimize the system design. In this paper, Commercial software DADS and ANSYS help to develop the track model of the crawler type excavator, and to evaluate the performance and the dynamic characteristics of excavator with various simulations. For that reason, the track of crawler type excavator is modelled with DADS Track Vehicle Superelement, and the reaction forces on the track rollers were predicted through the driving simulation. Also, the upper frame and cabin vibration characteristics, at the low RPM idle state, were evaluated with engine rigid body modelling. And flexibility body effects were considered to determine the more accurate joint reaction forces and accelerations under the upper frame swing motion.

• Journal of International Academy of Physical Therapy Research
• /
• v.11 no.2
• /
• pp.2065-2070
• /
• 2020

Background: Weakness of the abdominal and mid thoracic muscles the lead to thoracic kyphosis of stroke patients. The trunk muscles activity of stroke patients is significantly related to upper extremity. Objectives: To investigate the effect of seated exercise of thoracic and abdominal muscles on upper extremity function and trunk muscles activity in stroke patients. Design: One-group pretest-posttest design. Methods: A total of 27 stroke patients were recruited. All stroke patient were given seated abdominal exercise (posterior pelvic tilt exercises) and thoracic exercise (postural-correction exercise). All exercises were conducted for 30 minutes, three times a week for four weeks. The manual function test (MFT) and electromyography (EMG) were measured, and EMG electrodes were attached to thoracic paraspinal muscles and lower rectus abdominal muscles. EMG signal is expressed as %RVC (reference voluntary contraction). Results: Experimental group showed significant increases in abdominal muscles, paraspinal muscles activity and MFT total score, items of arm motion (forward elevation of the upper extremity, lateral elevation of the upper extremity, touch the occiput with the palm) in MFT after four weeks. Conclusion: These results suggest that, in stroke patients, seated exercise of thoracic and abdominal muscles contribute to improve trunk muscles activity and upper extremity function in stroke patients.

• Structural Engineering and Mechanics
• /
• v.54 no.6
• /
• pp.1061-1073
• /
• 2015

This paper presents a nonlocal sinusoidal shear deformation beam theory (SDBT) for the nonlinear vibration of single walled carbon nanotubes (CNTs). The present model is capable of capturing both small scale effect and transverse shear deformation effects of CNTs, and does not require shear correction factors. The surrounding elastic medium is simulated based on Pasternak foundation. Based on the nonlocal differential constitutive relations of Eringen, the equations of motion of the CNTs are derived using Hamilton's principle. Differential quadrature method (DQM) for the natural frequency is presented for different boundary conditions, and the obtained results are compared with those predicted by the nonlocal Timoshenko beam theory (TBT). The effects of nonlocal parameter, boundary condition, aspect ratio on the frequency of CNTs are considered. The comparison firmly establishes that the present beam theory can accurately predict the vibration responses of CNTs.

• Structural Engineering and Mechanics
• /
• v.55 no.4
• /
• pp.743-763
• /
• 2015

This work presents a new nonlocal hyperbolic shear deformation beam theory for the static, buckling and vibration of nanoscale-beams embedded in an elastic medium. The present model is able to capture both the nonlocal parameter and the shear deformation effect without employing shear correction factor. The nonlocal parameter accounts for the small size effects when dealing with nanosize structures such as nanobeams. Based on the nonlocal differential constitutive relations of Eringen, the equations of motion of the nanoscale-beam are obtained using Hamilton's principle. The effect of the surrounding elastic medium on the deflections, critical buckling loads and frequencies of the nanobeam is investigated. Both Winkler-type and Pasternak-type foundation models are used to simulate the interaction of the nanobeam with the surrounding elastic medium. Analytical solutions are presented for a simply supported nanoscale-beam, and the obtained results compare well with those predicted by the other nonlocal theories available in literature.

• Steel and Composite Structures
• /
• v.18 no.3
• /
• pp.793-809
• /
• 2015

In this scientific work, constructing of a novel shear deformation beam model including the stretching effect is of concern for flexural and free vibration responses of functionally graded beams. The particularity of this model is that, in addition to considering the transverse shear deformation and the stretching effect, the zero transverse shear stress condition on the beam surface is assured without introducing the shear correction parameter. By employing the Hamilton's principle together with the concept of the neutral axe's position for such beams, the equations of motion are obtained. Some examples are performed to demonstrate the effects of changing gradients, thickness stretching, and thickness to length ratios on the bending and vibration of functionally graded beams.

• Structural Engineering and Mechanics
• /
• v.48 no.3
• /
• pp.351-365
• /
• 2013

In this paper, unified nonlocal shear deformation theory is proposed to study bending, buckling and free vibration of nanobeams. This theory is based on the assumption that the in-plane and transverse displacements consist of bending and shear components in which the bending components do not contribute toward shear forces and, likewise, the shear components do not contribute toward bending moments. In addition, this present model is capable of capturing both small scale effect and transverse shear deformation effects of nanobeams, and does not require shear correction factors. The equations of motion are derived from Hamilton's principle. Analytical solutions for the deflection, buckling load, and natural frequency are presented for a simply supported nanobeam, and the obtained results are compared with those predicted by the nonlocal Timoshenko beam theory and Reddy beam theories.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.13 no.4
• /
• pp.58-65
• /
• 2005

A method measuring angular speed and estimating angular acceleration of an automotive wind shield wiper pivot with limited resources has been proposed. Limited resources refer to the fact that processes cannot be operated in real-time with a regular notebook running a Microsoft Windows. Also, they refer to the fact that data acquisition cards have only two general purpose counters as many generic cards do. An optical incremental encoder has been employed for measuring angular motion. To measure the angular speed of the pivot, periods for the encoder's output pulses have been measured as the speed is related to the reciprocal of the period. Since only information acquired from one counter channel is the magnitude of the angular speed, sign correction is necessary. Also the information for the exact time when a pivot passes left and right dead points is also missing and the situation is inherent to the hardware setup. To find out the zero-crossing time of the angular speed, a linear interpolation technique has been employed. Lastly, to overcome the imperfection of the mechanical encoders, the angular speed has been curve fitted to a spline. Angular acceleration can be obtained by a differentiation of the angular speed.