• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.3
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• pp.275-282
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• 2015

Recently, Vecna BEAR type robot to save injured individuals from inaccessible areas has been developed to minimize the loss of life. Because this robot is driven on rough terrain, there is a risk of rollover and vibration, which could impact the injured. In order to guarantee its stability, an algorithm is required that can estimate the speed limits for various environments in real time. Therefore, a dynamic model for real-time analysis is needed for this algorithm. Because the tracks used as the driving component of Vecna BEAR type robot consist of many parts, it is impossible to analyze the multibody tracks in real time. Thus, a lumped track model that satisfies the requirements of a short computation time and adequate accuracy is required. This study performed lumped track modeling, and the traction force was verified using RecurDyn, which is a dynamic commercial program.

• Journal of Advanced Navigation Technology
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• v.22 no.6
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• pp.585-590
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• 2018

GPS satellite orbits could be estimated precisely using GPS dynamics as well as GPS observations. Most of the perturbations are available to be generated using satellite position, velocity, well known model equations and coefficients. However, who wants to calculate solar radiation pressure (SRP) should choose a SRP model and estimate the coefficients of a SRP model. The accuracy of SRP model depends on the model characteristics. Therefore this paper has estimated coefficients of SRP models using CODE precise orbit product and compared the accuracy of orbit propagator depending on SRP model. The results show that the extended CODE orbit model (ECOM) and the reduced ECOM achieved cm level fitting orbit for the CODE 1-day orbit. Also orbit propagation model without SRP model consideration could get tens of meter orbits compared to CODE orbits.

• The Bulletin of The Korean Astronomical Society
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• v.37 no.2
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• pp.183.1-183.1
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• 2012

인공위성의 자세 제어 및 자세 결정에 사용되는 센서들의 정렬오차는 자세명령생성 오차, 자세제어 오차, 자세결정 오차 등과 더불어 지향정밀도를 저하시키는 하나의 요인으로 작용한다. 본 연구에서는 자이로 센서에만 정렬오차가 존재한다고 가정하는 상황에서 별추적기와 자이로 센서를 이용한 자세결정 필터에 의해 추정되는 자이로 바이어스 값만을 이용하여 자이로 센서의 정렬오차를 확인(Identification)하는 방법 및 결과에 대해 기술한다. 이를 추정하는 다른 방법으로는 여러 가지가 있으며 대표적으로 위성의 다축기동 정보를 입력으로 사용하는 확장칼만필터를 이용한 궤도상 보정(On-orbit Calibration) 방법이 있으나 본 연구에서는 위성의 기동 또는 많은 계산량을 소모하지 않고 비교적 간단하게 자이로 정렬오차를 추정하는 방법을 제시하였다. 그리고 실제 궤도상 위성의 거동 데이터를 이용하여 제안한 방법의 효율성을 검증하였다. 결과적으로, 제안된 방법을 이용했을 때 소수점 둘째 자리 이하의 정확도를 가지고 정렬오차가 추정됨을 확인하였다.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.480-493
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• 2007

Many railway-advanced countries are using the various types of track to reduce the track maintenance and repair cost according to the improvement of velocity. It spends on much maintenance and repair cost for ballast track due to abrasion of ballast, track irregularity and unisotropical ballast-support stiffness. The ballast track on railway bridge is accelerating the deterioration of ballast according to interaction of railway bridge and track. As continuing the deterioration, it is caused dynamic loads. Due to these effects, it increases negative loads of track and bridge. However, when designing the railway bridge, the effect of ballast track was applicate only dead load, so elastic behavior effect of ballast track is not influenced. Therefore, this paper presumes the stiffness of ballast track on railway bridge considering dynamic behavior of railway bridge, it was evaluated that effect on dynamic behaviors of railway bridge according to ballast track stiffness.

• Proceedings of the KSRS Conference
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• 2007.03a
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• pp.161-166
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• 2007

Multi-functional Transport Satellite lR(MTSAT-lR)과 같은 정지궤도 기상위성의 지상 전처리 과정에는 영상위치보정(Image navigation and registration)이 포함된다. 영상위치보정은 위성 영상의 기하학적인 왜곡을 보정하는 과정이다. 랜드마크를 이용하는 영상위치보정 과정은 랜드마크 결정과 센서 모델 추정， 리샘플링(Resampling)의 세 가지 단계로 나눌 수 있다. MTSAT-1R의 High Resolution Image Data(HiRID)는 이미 영상위치보정이 수행되었지만, 기하학적인 오차가 남아있는 영상을 포함하기도 한다. 본 연구에서는 이런 기하학적인 오차를 제거하기 위해서 강인추정 기법에 기반한 기하보정을 수행하였다. 이태윤 등 (2005)은 강인추정 기법과 Direct Linear Transformation (DLT)에 기반한 오정합 판별 방법을 제안하였다. 이 판별 방법을 적용하여 추정된 DLT로 MTSAT-1R 영상의 기하보정을 수행한 결과에는 향상된 정확도로 기하보정 된 영상 뿐만 아니라 비교적 큰 오차를 포함하는 영상도 있었다. 이를 해결하기 위해서 본 연구에서는 강인추정 기법과 Affine 변환을 이용한 방법을 적용하였다. 본 연구에서는 기준 해안선에서 추출한 1,407개의 랜드마크와 8개의 MTSAT-1R 영상을 이용하였으며，강인추정 기법에 DLT를 적용한 방법과 Affine 변환을 적용한 방법으로 자동 기하보정을 수행하여 그 결과를 비교하였다. 또한 강인추정 기볍 중 RANSAC과 MSAC의 적용 결과를 비교하여 보았다. 그 결과，DLT로 기하보정 시，본 논문에서 제안된 방법이 강인추정 기법에 DLT를 적용한 방법 보다 더 좋은 성능을 보여주었다.

• The Journal of the Convergence on Culture Technology
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• v.9 no.6
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• pp.1057-1063
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• 2023

The urban railway sleeper floating track, the subject of this study, is an anti-vibration track to reduce vibration transmitted to the structure. currently, the replacement cycle of resilience pad for sleeper floating tracks is set and operated based on load. however, most previous studies were conducted on load-based structural safety aspects, such as fatigue life evaluation of sleeper anti-vibration pads and increase in track impact coefficient and track support stiffness due to increase in spring stiffness. therefore, in this study, we measure the vibration acceleration of the ballast for each analysis section and use the results of 7 million fatigue tests to calculate the spring stiffness of the resilience pad for each section. the spring stiffness of the resilience pad calculated for each section was set as the analysis data and the concrete vibration acceleration was derived analytically. the adequacy of analysis modeling was verified as the analyzed concrete bed vibration acceleration for each section was within the field-measured concrete bed vibration acceleration range. using the vibration acceleration curve according to the derived spring stiffness change, the spring stiffness of the resilience pad is estimated from the measured vibration acceleration. therefore, we would like to present a technique that can estimate the spring stiffness of resilience pad of a running track using the vibration acceleration of the measured concrete bed.

• 한국방재학회:학술대회논문집
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• 2010.02a
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• pp.78.1-78.1
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• 2010

장대레일 궤도는 재료적인 불확실성 및 구조계의 기하학적 불확실성이 매우 높은 시스템으로 궤도 좌굴의 위험이 상존한다. 그러므로 궤도 환경이 열악한 혹서기 장대레일 궤도의 안정성을 합리적으로 평가하는 연구는 매우 중요하다. 궤도 좌굴에 직접적 영향을 미치는 레일온도는 현재 지역의 대표 대기온도에 따른 추정된 레일온도로 사용하고 있는 실정이지만 기후조건에 따라 레일온도가 변동되기 때문에 이를 고려하여 확률분포로써 반영하는 것이 합리적이다. 본 연구는 현장 기후요소 및 레일온도 측정 실험을 수행한 자료들을 DB화하여 혹서기 장대레일 궤도의 안정성 향상 및 신뢰성 확보에 기여하고자 한다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.1
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• pp.15-21
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• 2020

In this paper, the observation performance of the electro-optical telescope system which surveils the unknown space objects, is analyzed by the Modeling & Simulation(M&S). The operation concept for the observation of the unknown space objects using two telescope systems is considered and the M&S models are constructed. Based on the operation concept for observing the unknown space objects, the estimated orbit is generated by Initial Orbit Determination(IOD) and the observation performance is analyzed according to the offset compensation cycle for the estimated orbit. The result of the M&S based analysis in this paper shows that the observation performance increases with the shorter offset compensation cycle, and decreases with the longer offset compensation cycle. Therefore, to improve the performance of the telescope system which surveils the unknown space objects, the observation system with accurate initial orbit determination or shorter offset compensation cycle should be designed and constructed.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.1
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• pp.47-55
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• 2006

This paper investigates the performance of sensor models based on satellite position and rotation angles and sensor models based on satellite orbit and attitude angles. We analyze the performance with respect to the accuracy of bundle adjustment and the accuracy of exterior orientation estimation. In particular, as one way to analyze the latter, we establish sensor models with respect to one image and apply the models to other scenes that have been acquired from the same orbit. Experiment results indicated that fer the sole purpose of bundle adjustment accuracy one could use both position-rotation models and orbit-attitude models. The accuracy of estimating exterior orientation parameters appeared similar for both models when analysis was performed based on single scene. However, when multiple scenes within the same orbital segment were used for analysis, the orbit-attitude model with attitude biases as unknowns showed the most accurate results.

• Aerospace Engineering and Technology
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• v.11 no.2
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• pp.149-157
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• 2012

In this paper, the performance of the sequential filter for a space debris collision management system is analyzed by using the flight data of KOMPSAT-2. To analyze the performance of the sequential filter, the results of batch filter used in the orbit determination system of the KOMPSAT-2 ground station is used as reference data. The overlap method is also used to evaluate the orbit accuracy. This paper shows that the orbit determination accuracy of the sequential filter is similar to that of the KOMPSAT-2 ground station, but dissimilar characteristics exist due to the filter difference. In addition, it is also shown that the orbit determination accuracy is order of 1m root mean square by using 30 hour GPS navigation solutions and 6 hour comparison period for the overlap method.