• The Journal of Korea Robotics Society
• /
• v.2 no.3
• /
• pp.212-220
• /
• 2007

This paper proposes a method of avoiding obstacles and tracking a moving object continuously and simultaneously by using new concepts of virtual tow point and fuzzy danger factor for differential wheeled mobile robots. Since differential wheeled mobile robot has smaller degree of freedom to control and are non-holonomic systems, there exist multiple solutions (trajectories) to control and reach a target position. The paper proposes 'fuzzy danger factor' for obstacles avoidance, 'virtual tow point' to solve non-holonomic object tracking control problem for unique solution and three kinds of fuzzy logic controller. The fuzzy logic controller is policy decision controller with fuzzy danger factor to decide which controller's result is more valuable when the mobile robot is tracking a moving object with obstacles to be avoided.

• Composites Research
• /
• v.32 no.5
• /
• pp.249-257
• /
• 2019

In this paper, the buckling behavior of triaxially braided circular arch with monosymmetric open section subjected to three-point bending was studied experimentally and numerically. First, test specimens were manufactured using vacuum assisted resin transfer molding (VARTM). Then the specimen was tested under three-point bending to determine the ultimate buckling strength. Before performing the numerical analysis, effective material properties of the braided composite were obtained through micro-meso scale analysis virtual testing validated with available test results. Then linear buckling analysis and geometrically non-linear post buckling analysis, established to simulate the test setup, were performed to study the buckling behavior of the composite frame. Analysis results were compared with experimentally obtained ones for verification. The effect of manufacturing defects of tow misalignment, irregular surface and resin rich region, and uncertainties during test setup were studied using numerical models. From the numerical analyses performed it was observed that both manufacturing defect and uncertainties had effect on the buckling behavior and strength.