• 제어로봇시스템학회논문지
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• 제12권12호
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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.

• 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.

• 융합신호처리학회논문지
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• 제7권1호
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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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• 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.

• 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.

• 응용통계연구
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• 제27권5호
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• pp.755-771
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• 2014

등방성(isotropy)은 공분산 모형(covariance model)에 기반으로 공간 예측(spatial prediction)이라 불리우는 크리깅(kriging) 을 용이하게 수행하기 위한 주요 가정 중의 하나로 알려져있다. 공간 과정에서 등방성이 충족되지 않는 경우에는, 보다 신뢰성 예측을 생성하기 위해 비등방성 공분산 모형(covariance model)과 관련된 모수들(각도 및 비율)를 추정해야 한다. 본 논문에서는 여러 방향의 기하학적 비등방성 모형(geometrically anisotropic covariance models)의 가중 평균으로 표현되는 확장된 형태의 기하학적 비등방성(geometrically extended anisotropic) 공분산모형을 제안한다. 연구에 관심이 되는 모수를 추정하기 위해 최대우도추정법(maximum likelihood estimation method)을 이용하였다. 제안한 모형의 성능을 평가하기 위해 등방성 공분산모형과 기하학적 비등방성 모형을 고려한 모의실험을 수행하였다. 또한 확장된 기하학적 비등방성 모형을 적용한 미세먼지 농도자료 분석을 실시하였다.

• 대한기계학회논문집A
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• 제26권7호
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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.

• 대한수학회보
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• 제45권3호
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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.

• 청정기술
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• 제24권4호
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• pp.301-306
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• 2018

최근 미세먼지의 증가로 인해 디젤 자동차로부터 발생되는 PM에 대한 규제가 강화되고 있다. 디젤 자동차의 배기가스를 제거하는 후처리 장치인 매연여과장치(diesel particulate filter, DPF)에 대한 관심이 급증하고 있다. 따라서 DPF 효율 향상의 하나로 DPF 내의 압력강하를 줄여서 필터 및 재생(Regeneration)의 효율을 증가시키고 있다. 본 연구에서는 ANSYS FLUENT를 이용하여 5.66" SiC와 Cordierite DPF의 셀 밀도, 채널 형상, 벽두께, 입 출구 채널 비에 따른 압력강하 영향을 시뮬레이션했다. 실험결과로서 200 CPSI보다 300 CPSI에서 압력강하가 작게 나타났으며, Anisotropy과 O/S 셀이 Isotropy보다 약 1,301 Pa 작은 압력강하를 나타냈다. 공극률은 10% 증가할 때 마다 압력강하가 약 300 Pa씩 작아졌고, 벽 두께에 따른 영향은 0.05 mm 두꺼워질수록 약 500 Pa 씩 커지는 경향을 나타냈다.

• 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.