• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.190-199
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• 1993

In this study a three-axes mobile robot which has two independently controlled driving wheels and a function of simultaneously steering the driving wheels has been developed. Two-motion modes of the mobile robot, the first is a differential velocity motion of two driving wheels and the second is a equal driving and steering motion, have been analyzed and the kinematic and dymanic analyses about the each motion mode have been carried out. As a result of dynamic analysis, the torque used on a motor control and acceleration have been derived explicitly. Hence, a computation time is saved effectively and a real time control of the mobile robot considering the dynamics has become possible. Through a simulation the results considering the dynamics have been compared with that no regarding the dynamics and the possibility of real-time control has been proved.

• Computers and Concrete
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• v.26 no.2
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• pp.185-201
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• 2020

This research is devoted to investigate the bending and free vibration behaviour of laminated composite/sandwich plates and shells, by applying an analytical model based on a generalized and simple refined higher-order shear deformation theory (RHSDT) with four independent unknown variables. The kinematics of the proposed theoretical model is defined by an undetermined integral component and uses the hyperbolic shape function to include the effects of the transverse shear stresses through the plate/shell thickness; hence a shear correction factor is not required. The governing differential equations and associated boundary conditions are derived by employing the principle of virtual work and solved via Navier-type analytical procedure. To verify the validity and applicability of the present refined theory, some numerical results related to displacements, stresses and fundamental frequencies of simply supported laminated composite/sandwich plates and shells are presented and compared with those obtained by other shear deformation models considered in this paper. From the analysis, it can be concluded that the kinematics based on the undetermined integral component is very efficient, and its use leads to reach higher accuracy than conventional models in the study of laminated plates and shells.

• Steel and Composite Structures
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• v.26 no.4
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• pp.473-484
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• 2018

Free vibration of cross-ply laminated plates using a higher-order shear deformation theory is studied. The arbitrary number of layers is oriented in symmetric and anti-symmetric manners. The plate kinematics are based on higher-order shear deformation theory (HSDT) and the vibrational behaviour of multi-layered plates are analysed under simply supported boundary conditions. The differential equations are obtained in terms of displacement and rotational functions by substituting the stress-strain relations and strain-displacement relations in the governing equations and separable method is adopted for these functions to get a set of ordinary differential equations in term of single variable, which are coupled. These displacement and rotational functions are approximated using cubic and quantic splines which results in to the system of algebraic equations with unknown spline coefficients. Incurring the boundary conditions with the algebraic equations, a generalized eigen value problem is obtained. This eigen value problem is solved numerically to find the eigen frequency parameter and associated eigenvectors which are the spline coefficients.The material properties of Kevlar-49/epoxy, Graphite/Epoxy and E-glass epoxy are used to show the parametric effects of the plates aspect ratio, side-to-thickness ratio, stacking sequence, number of lamina and ply orientations on the frequency parameter of the plate. The current results are verified with those results obtained in the previous work and the new results are presented in tables and graphs.

• Steel and Composite Structures
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• v.28 no.5
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• pp.589-606
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• 2018

The previous studies reflected the significant effect of neutral-axis position and coupling of in-plane and out-of-plane displacements on behavior of functionally graded (FG) nanobeams. In thin FG beam, this coupling can be eliminated by a proper choice of the reference axis. In shear deformable FG nanobeam, not only this coupling can't be eliminated but also the position of neutral-axis is dependent on through-thickness distribution of shear strain. For the first time, in this paper it is avoided to guess a shear strain shape function and the exact shape function and consequently the exact position of neutral axis for arbitrary gradation of higher order nanobeam are obtained. This paper presents new methodology based on differential transform and collocation methods to solve coupled partial differential equations of motion without any simplifications. Using exact position of neutral axis and higher order beam kinematics as well as satisfying equilibrium equations and traction-free conditions without shear correction factor requirement yields to better results in comparison to the previously published results in literature. The classical rule of mixture and Mori-Tanaka homogenization scheme are considered. The Eringen's nonlocal continuum theory is applied to capture the small scale effects. For the first time, the dependency of exact position of neutral axis on length to thickness ratio is investigated. The effects of small scale, length to thickness ratio, Poisson's ratio, inhomogeneity of materials and various end conditions on vibration and buckling of local and nonlocal FG beams are investigated. Moreover, the effect of axial load on natural frequencies of the first modes is examined. After degeneration of the governing equations, the exact new formulas for homogeneous nanobeams are computed.

• Journal of Computational Design and Engineering
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• v.1 no.1
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• pp.27-36
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• 2014

Similar to the essential components of many mechanical systems, the geometrical properties of the teeth of spiral bevel gears greatly influence the kinematic and dynamic behaviors of mechanical systems. Logarithmic spiral bevel gears show a unique advantage in transmission due to their constant spiral angle property. However, a mathematical model suitable for accurate digital modeling, differential geometrical characteristics, and related contact analysis methods for tooth surfaces have not been deeply investigated, since such gears are not convenient in traditional cutting manufacturing in the gear industry. Accurate mathematical modeling of the tooth surface geometry for logarithmic spiral bevel gears is developed in this study, based on the basic gearing kinematics and spherical involute geometry along with the tangent planes geometry; actually, the tooth surface is a parametric surface defined on a parallelogrammic domain. Equivalence proof of the tooth surface geometry is then given in order to greatly simplify the mathematical model. As major factors affecting the lubrication, surface fatigue, contact stress, wear, and manufacturability of gear teeth, the differential geometrical characteristics of the tooth surface are summarized using classical fundamental forms. By using the geometrical properties mentioned, manufacturability (and its limitation in logarithmic spiral bevel gears) is analyzed using precision forging and multiaxis freeform milling, rather than classical cradle-type machine tool based milling or hobbing. Geometry and manufacturability analysis results show that logarithmic spiral gears have many application advantages, but many urgent issues such as contact tooth analysis for precision plastic forming and multiaxis freeform milling also need to be solved in a further study.

• ETRI Journal
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• v.38 no.2
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• pp.337-346
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• 2016

We propose a data-driven kinematic control method for a robotic spatial augmented reality (RSAR) system. We assume a scenario where a robotic device and a projector-camera unit (PCU) are assembled in an ad hoc manner with loose kinematic specifications, which hinders the application of a conventional kinematic control method based on the exact link and joint specifications. In the proposed method, the kinematic relation between a PCU and joints is represented as a set of B-spline surfaces based on sample data rather than analytic or differential equations. The sampling process, which automatically records the values of joint angles and the corresponding external parameters of a PCU, is performed as an off-line process when an RSAR system is installed. In an on-line process, an external parameter of a PCU at a certain joint configuration, which is directly readable from motors, can be computed by evaluating the pre-built B-spline surfaces. We provide details of the proposed method and validate the model through a comparison with an analytic RSAR model with synthetic noises to simulate assembly errors.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.2
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• pp.73.1-73.1
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• 2017

Reverberation mapping is one of the best way to investigate structure and kinematics of broad-line regions around central supermassive black holes of active galactic nuclei (AGN). It is usually used to estimate masses of supermassive black holes. So far, reverberation mapping studies have achieved good results for dozens of AGN by spectroscopic monitoring. However, spectroscopic monitoring is time consuming and high cost. Here, we present result of photometric reverberation mapping with medium-band observation. We monitored five nearby AGN which are already studied, have short time-lag, and show bright H-alpha emission lines. Observation has been performed for ~3 months with ~3 days cadence using three medium-band filters installed in LSGT (Lee Sang Gak Telescope). We found 0.01-0.06 magnitude variations by differential photometry. Also time-lags between continuum light-curves and H-alpha emission line light-curves are calculated using Javelin software. The result shows that our study and previous studies are consistent within uncertainty range. From verification of availability in this study, photometric reverberation mapping could be used as a powerful tool to measure central supermassive black holes for large samples and high-redshift AGN in the future.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.54-58
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• 2013

In recent days, vehicles have become equipped with electric systems that assist and help drivers driving safe by reducing possible accidents. LDWS(Lane Departure Warning System) and LKAS(Lane Keeping Assistant System) are involved in assist systems, especially for lateral motion of vehicles. Sudden and inattentive lateral motion of vehicles due to drivers' fatigue, illness, inattention, and drowsiness are major causes of accidents in highway. LDWS and LKAS provide drivers with warnings or assisting power to reduce any possibilities of accidents. In order to prevent or minimize the possibilities of accidents, lateral motion control of vehicles has been introduced in this research. DGPS/RTK(Differential Global Positioning System/Real Time Kinematics) and GIS(Geographic Information System) have been used to obtain the current position of vehicles and decide when activate controlling lateral motion of vehicles. The presented lateral motion control has been validated with actual vehicle tests.

• Journal of Environmental Science International
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• v.11 no.2
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• pp.103-110
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• 2002

The position fixing usually is determined by triangulation, traverse surveying and astronomy surveying. However, when the station is moving, it is impossible to determine its position continuously by the former method. By a satellite positioning method(GPS), this problem can be solved. In our study, we used two methods to determine the length and coordinate of a point position. One is a kinematic GPS method and the other is a static one. Each is based on carrier phase measurement and employs a relative position technique. We implemented observation experiments such as Geodimeter and DGPS(Differential GPS) successfully. To estimate the accuracy between the kinematic and static methods, we compared the results of Geodimeter, the kinematic, and the static. The results showed that the static is relatively a little more accurate than the kinematic. However, in the kinematic mode, when we received the GPS data for a long time, we found that the kinematic also had a high accuracy value for the length survey Finally, we applied the GPS to Jeju Harbor Breakwater to examine the applicability of GPS for coastal ocean structure based on the kinematics and the statics, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.883-890
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• 2006

Nowadays, CPS is used widely, especially in cases which need more precise position information, such as car navigation systems and even in the mobile robot for position measuring in the outdoor environment. RTK (Real-Time Kinematics) and DGPS (Differential Global Positioning System) have more precise accuracy than the general-purposed GPS. However can't easily use them because of high prices and large size of equipments. In order fur the mobile robot to obtain precise position information it is important that CPS receiver has portability and low price. In this study, we introduce a new GPS data acquisition system that offers the precise position data using the DGPS mechanism and satisfying low cost and portability. In addition to this, we propose an improved data compensation algorithm that offers more accurate position information to the outdoor mobile robot by compensating the error rate of CPS data measured from the three points with geometrical rotation and distance formula. Proposed method is verified by comparing with the precise real position data obtained by RTK. Proposed method has more than 70% performance enhancement.