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

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

• 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.

• The Korean Journal of Applied Statistics
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• v.27 no.5
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• pp.755-771
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• 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 A
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• v.26 no.7
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• pp.1384-1392
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• 2002

Single fiber pull-out technique has been commonly used to characterize the mechanical behavior of interface in fiber reinforced composite materials. An improved analysis considering the effects of transversely isotropic properties of fiber and the effects of thermal residual stresses in both radial and axial directions along the fiber/matrix interface is developed for the single fiber pull-out test. Although the stress transfer properties across the interface is not much affected by considering the transversely isotropic properties of fiber, interfacial debonding is notably encouraged by the effect. The interfacial shear stress that plays an important role in interfacial debonding is very much affected by the component of axial thermal residual stress in the bonded region, which can induce a two-way debonding mechanism.

• Bulletin of the Korean Mathematical Society
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• v.45 no.3
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• pp.523-561
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• 2008

The purpose of this paper is to survey the use of the important method of scaling in analysis, and particularly in complex analysis. Applications are given to the study of automorophism groups, to canonical kernels, to holomorphic invariants, and to analysis in infinite dimensions. Current research directions are described and future paths indicated.

• Clean Technology
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• v.24 no.4
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• pp.301-306
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• 2018

Recently, due to the increase in the fine dust, regulations on PM generated from diesel cars are strengthened. There is a growing interest in diesel particulate filters (DPFs), a post-treatment device that removes exhaust gases from diesel vehicles. Therefore, one of the enhancements of the DPF efficiency is to reduce the pressure drop in the DPF, thereby increasing the efficiency of the filter and regeneration. In this study, the effect of cell density, channel shape, wall thickness, and inlet channel ratio of 5.66" SiC and Cordierite DPF on the pressure drop in DPF was investigated using ANSYS FLUENT simulator. As a result of the experiment, the pressure drop was smaller at 300 CPSI than 200 CPSI, and the anisotropy and O / S cell showed less than Isotropy by pressure drop of about 1,000 Pa. As the porosity increased by 10% the pressure drop was reduced by about 300 Pa and as the wall thickness increased by 0.05 mm, the pressure drop was increased by about 500 Pa.

• 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.