• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2393-2395
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• 2001

The mobile robot is used as an instrument of transportation in automated plant. But the greater part of the moving method is the wheel-type. The wheel-type robot is easier control than the track-type, However the track-type is better than the wheel-type in bad landform(bend landform, an incline plane, stairs). In this paper, we propose the navigation algorithm of track-type robot in order to improve a defect of wheel-type. We experiment in bend landfrom and even ground to differentiate the navigation method. To estimate robot pose, we use the 80196 in a close distance and the vision-board in a long distance. Each data is managed in main PC and then the part of managing correspond to every sensor. We also use twelve supersonic wave-sensors to recognize external surroundings. As the result of experiment, we analyze the algorithm of control and make possible surroundings-adaptation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.10
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• pp.430-436
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• 2018

Special railway vehicles for track maintenance are equipped with a tamping device that adjusts various track trajectories to reduce the vibration of rolling stock and improve ride quality during trains passing over a track. The development of a simulator that can confirm the error of the actual tamping work is important for reducing human error in the linearization of the track misalignment. In this study, to improve the reality and training effect of conventional 2D simulator, 3D simulator modeling was implemented for tamping work of special railway vehicles in virtual space. The problem of buffering during high screen quality of tamping work was solved using the Unwrap UVW mapping technique of a low polygon extracted from high quality polygon modeling. The human error in the training of the tamping work was detected by the principle of circle and square collision when the tamping tyne and the sleeper collided. In addition, vibration of the driving chair was generated at the same time as the collision, and the number of the sleeper strikes is displayed on the simulator exercise screen. Owing to the scattering of railway ballast protruding from the sleepers, which had a serious effect on the safety of the vehicle, the gravel bouncing effect of the tamping unit was applied.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.11
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• pp.604-613
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• 2018

In recent years, numerous train derailment accidents caused by deterioration and high speed technology of railways have increased. Guardrails or barriers of railway bridges are installed to restrain and prevent the derailment of the train body level. On the other hand, it can result in a high casualties and secondary damage. Therefore, a Derailment Containment Provision (DCP) within the track at the wheel/bogie level was developed. DCP is designed for rapid installation because it reduces the impact load on the barrier and inertia force on the steep curve to minimize turnover, fall, and trespass on the other side track of the bridge. In this paper, DCP was analyzed using LS-Dyna with a parameter study as the impact loading location and interface contact condition. The contact conditions were analyzed using the Tiebreak contact simulating breakage of material properties and Perfect bond contact assuming fully attached. As a result, the Tiebreak contact behaved similarly with the actual behavior. In addition, the maximum displacement and flexural failure was generated on the interface and DCP center, respectively. The impact analysis was carried out in advance to confirm the DCP design due to the difficulties of performing the actual impact test, and it could change the DCP anchor design as the analysis results.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.35 no.2
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• pp.131-140
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• 2022

Installing Continuous Welded Rail (CWR) is one of the economical ways to resolve the challenges of noise, vibration, and the open-deck steel railway bridge impact, and the SSF method using the interlocking sleeper fastener has recently been developed. In this study, the method employed for determining the optimum vertical stiffness of the sleeper pad installed under the bridge sleeper, which is utilized to adjust the rail height and absorb shock when the train passes when the interlocking sleeper fastener is applied, is presented. To determine the optimal vertical stiffness of the sleeper pad, related existing design codes are reviewed, and, running safety, ride comfort, track safety, and bridge vibration according to the change in the vertical stiffness of the sleeper pad are estimated via flexible multi-body dynamic analysis,. The flexible multi-body dynamic analysis is performed using commercial programs ABAQUS and VI-Rail. The numerical analysis is conducted using the bridge model for a 30m-long plate girder bridge, and the response is calculated when passing ITX Saemaeul and KTX vehicles and freight wagon when the vertical stiffness of the sleeper pad is altered from 7.5 kN/mm to 240 kN/mm. The optimum stiffness of the sleeper pad is calculated as 200 kN/mm under the conditions of the track components applied to the numerical analysis.

• Journal of the Korean Society of Hazard Mitigation
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• v.8 no.6
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• pp.61-66
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• 2008

In railroad operation, turnout is the device designed to provide very critical functions of moving the train to the neighboring rail. It's the only movable section among the rail and track equipment, which has a complicated structure and as rapid movement between the wheel and rail during operation is unavoidable, the safety and the vibration caused by the impact load of the passing train becomes always the major concern. Response to rail vibration tends to vary depending on physical properties of the rail, rail base and the ground, making it difficult to estimate the quantitative outcome through the measurement. Thus, experimental or empirical approach, rather than an analytic method, has been more commonly employed to deal with the ground vibration. To predict the vibration of the turnout, an experimental value and the measured values are applied in parallel to the factors with a high degree of uncertainty. This study hence was intended to compare and analyze the vibration values measured at the crossing part of manganese turnout by type of train and turnout and distance, as well as predict the intensity of vibration generated at the crossing part of manganese turnout when tilting train accelerates.

• The Journal of the Convergence on Culture Technology
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• v.4 no.3
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• pp.213-220
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• 2018

The objective of this study was to estimate the optimum spacing of rail joint for a personal rapid transit(PRT) track system, and to compare the results with the normal rail and rail joint by performing the finite element analysis(FEA) and field measurements using actual vehicles. Based on the FEA and field measurement results compared, the optimum spacing of the rail joints was calculated to be maximum of 1.20m based on the rail displacement. The vertical displacement of the normal rail was higher than that of the rail joint at a spacing of 1.0m, but it was considered that the vehicle riding performance and serviceability of track would be improved in terms of the stability of the train due to similar to rail defection between normal rail and rail joint. Also, because of the proposed rail joint spacing in this study was longer than the current rail joint spacing, the economic effect would be expected by decreasing the amount of sleepers.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.7 s.238
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• pp.1005-1012
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• 2005

An OHT(Over Head Transportation) vehicle is an example of the industrial monorail vehicle, and it is used in the automobile, semiconductor, LCD manufacturing industries. OHT vehicle is moved by main wheels and guide rollers. The major function of the main wheel is to support and drive the OHT vehicle. The roles of the guide roller is the inhibition of derailment and steering of the OHT vehicle. Since the required vehicle velocity becomes faster and the required load capacity is increased, the durability characteristics of the wheel and roller, which was made of urethane, need to be increased. So it is necessary to estimate the fatigue life cycle of the wheel and roller. In this study, OHT dynamic model was developed by using the multi body dynamic analysis program ADAMS. Wheel and roller are modeled by the 3-D surface contact module. Especially, motor cycle tire mechanics is used in the wheel contact model. The OHT dynamic model can analyze the dynamic characteristic of the OHT vehicle with various driving conditions. And the result was verified by a vehicle traveling test. As a result of this study, the developed model is expected to predict wheel dynamic load time history and makes a contribution to design of a new monorail vehicle.

• Proceedings of the Korea Concrete Institute Conference
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• 2008.04a
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• pp.57-60
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• 2008

Maglev is a system that a train runs levitated above a rail. Therefore it is very important to maintain a constant levitation gap for achieving serviceability and ride comfort. This study is a cooperation research subject of the 3-1 subject, performance improvement of maglev track structures, of the Center for Urban Maglev Program in Korea, started in 2006. The aim of this study is development of rapid constructions of bridge superstructure for maglev. At present, precast deck is widely used because of its superiority to cast-in-place concrete on quality and the term of works. The research group suggested basic systems of maglev guideway with PSC-U type and trapezoidal open steel box type girder, and precast deck, cooperating with Korea Railroad Research Institute, the managing institute of the 3-1 subject. In this study, a mock-up consisted of girders, decks and rail was fabricated and test was performed for constructability, serviceability and maintenance evaluation of PSC U-type girder, precast deck, and new guide rail system.

• Journal of Ocean Engineering and Technology
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• v.27 no.6
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• pp.81-89
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• 2013

This paper considers the steering characteristics of a four-row tracked vehicle crawling on extremely cohesive soft soil, where each side is composed of two parallel tracks. The four-row tracked vehicle (FRTV) is assumed to be a rigid body with 6-DOF. A dynamic analysis program for the tracked vehicle is developed using the Newmark-${\beta}$ method based on an incremental-iterative scheme. A terra-mechanics model of an extremely cohesive soft soil is implemented in the form of the relationships of the normal pressure to the sinkage, the shear resistance to the shear displacement, and the dynamic sinkage to the shear displacement. In order to investigate the steering characteristics of the four-row tracked vehicle, a series of dynamic simulations is conducted with respect to the distance between the left and right tracks (pitch), steering ratios, driving velocity, reference track velocity, lengths of the tracks, and properties of the cohesive soft soil. Through these numerical simulations, the possibility of using a kinematic steering ratio is explored.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.222-228
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• 2008

We conducted a dynamic analysis of an underwater test collector, which operates on extremely soft soil of deep-seafloor. The underwater test collector consists of nodule pick-up device, vehicle tracks, nodule crusher, loading frame and electric-electronic system. The weight of underwater test collector is about 8600 kg. The average normal pressure, that the underwater test collector supports, is about 6.0 kPa. The dynamic analysis model of underwater test collector is developed using commercial software RecurDyn-LM and Visual Fortran 90. A terramechanics model of extremely soft soil is implemented to the software based on user-written subroutine and applied to the dynamic analysis of the underwater test collector model. The dynamic responses of test collector are studied with respect to track velocities, terrain conditions, and coefficients of added mass and drag.