• 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.

• 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 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.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2640-2652
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• 1994

The stiffness of 6-node isotropic element is stiffer than that of 8-node isotropic element of same configuration. This phenomenon was called 'Relative Stiffness Stiffening Phenomenon'. In this paper, an equation of sampling point modification which correct this phenomenon was derived for the composite plate, as well as an equation for an isotropic plate. The relative stiffness stiffening phenomena of an isotropic plate element could be corrected by modifying Gauss sampling points in the numerical integration of stiffness matrix. This technique could also be successfully applied to the static analyses of composite plate modeled by the 3-dimensional 16-node elements. We predicted theoretical errors of stiffness versus the number of layers that result from the reduction of numerical integration order. These errors coincide very well with the actual errors of stiffness. Therefore, we can choose full integration of reduced integration based upon the permissible error criterion and the number of layers by using the thoretically predicted error.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1991.10a
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• pp.121-126
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• 1991

In his recent book, D.H. Kim proposes to use the quasi-isotropic constants by Tsai for the preliminary design of the composite primary structures for the civil construction. Such structures generally require a large number of laminae layers. Simple equations which can predict "exact" values of the buckling strength, the natural frequency of vibration, and the deflection for the special orthotropic laminates are presented. Many laminates with certain orientations lave decreasing values of B$\_$16/ and B$\_$26/ as the number of plies increases. Such laminates, with D$\_$16/=D$\_$26/\longrightarrow0, including the laminates with anti-symmetric configurations can be solved by the same equation for the special orthotropic laminates. If the quasi-isotropic constants are used, the equations for the Isotropic plates can be used. Use of some coefficients can produce "exact" value for laminates with such configuration.

• Coupled systems mechanics
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• v.2 no.3
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• pp.271-288
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• 2013

In the present study an elastic-plastic strain analysis is carried out for fibrous composites by using numerical modeling. Application of homogeneous transversely-isotropic model was chosen based on problem solution of a square plate with a circular hole under uniaxial tension. The results obtained in this study correspond to the solution of fiber model trial problem, as well as to analytical solution. Further, numerical algorithm and software has been developed, based on simplified theory of small elastic strains for transversely-isotropic bodies, and FEM. The influence of holes and cracks on stress state of complicated configuration transversely-isotropic bodies has been studied. Strain curves and plasticity zones that are formed in vicinity of the concentrators has been provided. Numerical values of effective mechanical parameters calculated for unidirectional composites at different ratios of fiber volume content and matrix. Content volume proportions of fibers and matrix defined for fibrous composite material that enables to behave as elastic-plastic body or as a brittle material. The influences of the fibrous structure on stress concentration in vicinity of holes on boron/aluminum D16, used as an example.

• Nuclear Engineering and Technology
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• v.54 no.8
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• pp.3176-3180
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• 2022

A gamma irradiator is a well-developed installation for gamma radiation sterilization. A "shuffle-dwell" mode is preferable for high dose applications. A novel configuration of a shuffle-dwell gamma irradiator is proposed to increase energy utilization and throughput, which would result in higher profitability. While the minimum distance between any irradiation position and each source pencil, the minimum distance between the neighboring irradiation positions and the size of source pencils are kept the same as the current configuration, the irradiation positions and source pencils are rearranged based on the fact that radiation is emitted in an isotropic fashion. The computational results suggest that the proposed configuration requires an 8.7% smaller area and exposes the product to 11.8% more gamma radiation in a 10.7% shorter irradiation time. In other words, the proposed configuration needs a smaller area and shorter irradiation time to have a better performance compared to the current shuffle-dwell gamma irradiator. Note that the claim is based primarily on an analytical calculation. Experimental and manufacturing among other practical considerations will be taken into account in the future work to exhaustively evaluate the performance of the proposed configuration and to compare it with that of the traditional configuration.

• Coupled systems mechanics
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• v.8 no.4
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• pp.299-313
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• 2019

The paper represents computer modeling of the deformed state of physically nonlinear transversally isotropic bodies with hole. In order to describe the anisotropy of the mechanical properties of transversally-isotropic materials a structurally phenomenological model has been used. This model allows representing the initial material in the form of the coupled isotropic materials: the basic material (binder) considered from the positions of continuum mechanics and the fiber material oriented along the anisotropy direction of the original material. It is assumed that the fibers perceive only the axial tensile-compression forces and are deformed together with the base material. To solve the problems of the theory of plasticity, simplified theories of small elastoplastic deformation have been used for a transversely-isotropic body, developed by B.E. Pobedrya. A simplified theory allows applying the theory of small elastoplastic deformations to solve specific applied problems, since in this case the fibrous medium is replaced by an equivalent transversely isotropic medium with effective mechanical parameters. The essence of simplification is that with simple stretching of composite in direction of the transversal isotropy axis and in direction perpendicular to it, plastic deformations do not arise. As a result, the intensity of stresses and deformations both along the principal axis of the transversal isotropy and along the perpendicular plane of isotropy is determined separately. The representation of the fibrous composite in the form of a homogeneous anisotropic material with effective mechanical parameters allows for a sufficiently accurate calculation of stresses and strains. The calculation is carried out under different loading conditions, keeping in mind that both sizes characterizing the fibrous material fiber thickness and the gap between the fibers-are several orders smaller than the radius of the hole. Based on the simplified theory and the finite element method, a computer model of nonlinear deformation of fibrous composites is constructed. For carrying out computational experiments, a specialized software package was developed. The effect of hole configuration on the distribution of deformation and stress fields in the vicinity of concentrators was investigated.

• Advances in Computational Design
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• v.5 no.3
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• pp.305-321
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• 2020

In this paper is presented the solution method for three-dimensional problem of transversely isotropic body's elastoplastic deformation by the finite element method (FEM). The process of problem solution consists of: determining the effective parameters of a transversely isotropic medium; construction of the finite element mesh of the body configuration, including the determination of the local minimum value of the tape width of non-zero coefficients of equation systems by using of front method; constructing of the stiffness matrix coefficients and load vector node components of the equation for an individual finite element's state according to the theory of small elastoplastic deformations for a transversely isotropic medium; the formation of a resolving symmetric-tape system of equations by summing of all state equations coefficients summing of all finite elements; solution of the system of symmetric-tape equations systems by means of the square root method; calculation of the body's elastoplastic stress-strain state by performing the iterative process of the initial stress method. For each problem solution stage, effective computational algorithms have been developed that reduce computational operations number by modifying existing solution methods and taking into account the matrix coefficients structure. As an example it is given, the problem solution of fibrous composite straining in the form of a rectangle with a system of circular holes.

• 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.