• 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.

• 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.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 1997.04a
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• pp.269-279
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• 1997

An investigation was peformed 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.

• 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 A
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• v.27 no.3
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• pp.440-449
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• 2003

Residual strength of fiber metal laminates after impact was studied. 3/4 lay up FML was fabricated using 4 ply prepreg, 2 ply aluminum sheets, and 1 ply steel sheet. Quasi isotropic ([0/45/90/-45]s) and orthotropic ([0/90/0/90]s) FRP were also fabricated to compare with FML. Impact test were conducted by using instrumented drop weight impact machine (Dynatup, Model 8250). Penetration load and absorbed energy of FML were superior to those of FRPs. Tensile tests were conducted to evaluate the residual strength after impact. Strength degradation of FML was less than that of FRP. This means that the damage tolerance of FML is excellent than that of FRP. Residual strength of each specimen was predicted by using Whitney and Nuismer(WN) Model. Impact damage area is assumed as a circular notch in WN model. Damage width is defined as the average of back face and top face damage width of each specimen. Average stress and point stress criterions were used to calculate the characteristic length. It is supposing that a characteristic length is a constant. The distribution of characteristic length shows that the assumption is reasonable. Prediction was well matched with experiment under both stress criterions.

• Computers and Concrete
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• v.4 no.5
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• pp.377-402
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• 2007

The paper presents quasi-static plane strain FE-simulations of strain localization in reinforced concrete beams without stirrups. The material was modeled with two different isotropic continuum crack models: an elasto-plastic and a damage one. In case of elasto-plasticity, linear Drucker-Prager criterion with a non-associated flow rule was defined in the compressive regime and a Rankine criterion with an associated flow rule was adopted in the tensile regime. In the case of a damage model, the degradation of the material due to micro-cracking was described with a single scalar damage parameter. To ensure the mesh-independence and to capture size effects, both criteria were enhanced in a softening regime by nonlocal terms. Thus, a characteristic length of micro-structure was included. The effect of a characteristic length, reinforcement ratio, bond-slip stiffness, fracture energy and beam size on strain localization was investigated. The numerical results with reinforced concrete beams were quantitatively compared with corresponding laboratory tests by Walraven (1978).

• Computers and Concrete
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• v.9 no.1
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• pp.35-50
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• 2012

The 2D representative volume element (RVE) for softening quasi-brittle materials like concrete is determined. Two alternative methods are presented to determine a size of RVE in concrete subjected to uniaxial tension by taking into account strain localization. Concrete is described as a heterogeneous three-phase material composed of aggregate, cement matrix and bond. The plane strain FE calculations of strain localization at meso-scale are carried out with an isotropic damage model with non-local softening.