• 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.

• 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.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 1997년도 제8회 학술강연회논문집
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• pp.269-279
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• 1997

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

• 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.

• 대한기계학회논문집A
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• 제27권3호
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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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• 제4권5호
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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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• 제9권1호
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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.