• 한국구조물진단유지관리공학회 논문집
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• 제27권6호
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• pp.39-46
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• 2023

이 연구에서는 차세대 고속철의 증가하는 주행속도에 따라 600 km/h 까지 10 km/h 간격으로 고속철 PSC 박스 연속교량의 교량받 침에 대한 동적거동을 수치해석하였다. 경부 고속철 구간의 40미터 단경간과 2경간 연속 PSC 박스교를 연구대상으로 프레임모형을 구성하였 으며, 38자유도의 관성질량 차량모형 및 교량과 궤도의 불규칙성을 포함한 상호작용력을 고려하였다. 주행속도별 교량받침의 종방향 변위와 누적이동거리와 변위속도를 산정하여 교량의 동적거동 추이분석과 비교하였다. 또한 마찰판의 내구성능평가를 위한 장기마찰시험 기준을 적 용하였다.

• 문화기술의 융합
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• 제10권3호
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• pp.845-849
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• 2024

현재 도시철도 레일의 노후화로 인한 레일표면결함이 증가하고 있으나 국가에서 제정된 궤도성능평가에 관한 세부지침에서 레일표면손상을 기술자의 육안, 간단한 측정 도구로 점검을 수행하는 실정이다. 주기적인 선로순회작업 및 육안점검을 통해 레일표면의 결함을 발견하는 것은 매우 중요하다. 그러나 점검자의 주관적 판단에 의해 레일표면의 결함의 경중을 평가하는 것은 레일 내부의 손상을 예측하기에 상당한 제약이 따른다. 본 연구에서는 레일표면손상에 따른 레일내부 균열특성에 관한 연구로서 현장측정에서는 레일표면 손상개소를 선정하여 가속구간 및 제동구간의 노후레일 시료를 채취하여 레일표면손상 상태를 평가하고자 전자주사현미경(SEM)을 이용하여 균열특성을 분석하였다. 분석결과, 주행 중인 열차로 인해 발생하는 균열 메커니즘과 레일표면방향으로 올라오는 각도로 균열이 발생하는 가속구간의 균열특성을 실험적으로 입증하였다.

• 대한기계학회논문집A
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• 제26권2호
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• pp.314-321
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• 2002

An endoscope is usually inserted into the human body for the inspection of the gullet, stomach, and large intestine (colon) and this may cause discomfort to patients and damage to tissues during diagnostic or therapeutic procedures. This situation necessitates a self-propelling endoscope. There are many kinds of mechanism to move in a rigid pipe. However, these methods are difficult to apply directly to the endoscope. The main reason is that human intestine cannot be considered as a uniform, straight, and rigid pipe. This paper proposes a flexible loop wheel mechanism, which is adaptable to the human intestine. This mechanism is designed and fabricated by a simple modeling, and tested by an experiment. Finally, the actuator is inserted into the pig colon.

• Journal of Biosystems Engineering
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• 제17권3호
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• pp.237-246
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• 1992

This study was conducted to investigate experimentally the effect of track tension on the tractive performance of rice combine. The experiment was carried out at the two in-door soil bins with soil types of loam and sandy loam. The initial track tension was varied by three different values of 0.71, 1.75 and 3.84kN at three different forward velocity settings of 0.17, 0.32 and 0.45m/s, respectively. The data acquisition system was designed and used for the measurement of pull, driving axle torque and its velocity under the test conditions to calculate the tractive efficiency. Results of the study were summarized as follows : 1) The effect of the initial track tension on the tractive efficiency was found being significantly dependent on soil types but not on forward velocities. Therefore, the benifit of adjusting the initial track tension may be obtained when the types of soils on which combines operate are changed. 2) In loam, tractive efficiency decreased with increase in track tension. However, it increased in sandy loam until it reached to a peak value and then decreased with increase in track tension. 3) The maximum tractive efficiency of the tested combine was obtained with an initial track tension of about 1.75kN on sandy loam, and below that on loam at about 5% slippage without being noticeably influenced by the forward velocity.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 춘계학술대회 논문집
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• pp.99-108
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• 2007

The bi-modal tram guided by the magnetic guidance system has two car-bodies and three axles. Each axle of the vehicle has an independent suspension to lower the floor of the car and improve ride quality. The turning radius of the vehicle may increase as a consequence of the long wheel base. Therefore, the vehicle is equipped with the All-Wheel-Steering(AWS) system for safe driving on a curved road. Front and rear axles should be steered in opposite directions, which means a negative mode, to minimize the turning radius. On the other hand, they also should be steered in the same direction, which means a positive mode, for the stopping mode. Moreover, only the front axle is steered for stability of the vehicle upon high-speed driving. In summary, steering angles and directions of the each axle should be changed according to the driving environment and steering mode. This paper proposes an appropriate AWS control algorithm for stable driving of the bi-modal tram. Furthermore, a multi-body model of the vehicle is simulated to verify the suitability of the algorithm. This model can also analyze the different dynamic characteristics between 2WS and AWS.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 춘계학술대회 논문집
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• pp.1129-1137
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• 2007

50kg NSI분기기(목침목)의 유지보수성 향상, 수명연장, 궤도안정, 친환경, 주행성 향상을 목적으로 PC침목 분기기를 개발(이하, NSR분기기)하여 신탄진역 측선에 시험부설 하였으며 현재 시험 평가 중에 있다. PC침목 NSI분기기는 LS-22차대 축중과 설계 속도 120km/h를 적용하여 60kg PC침목에 비해 경량화하였고 단면적과 중량의 최적화, 강선배치와 수량의 최적화 설계로 거의 동일한 성능을 유지할 수 있다. 제작 후 정적 강도 시험과 매립전 인발시험, 피로강도 시험을 수행하였으며 우수한 시험 결과를 얻음으로써 사용 신뢰성을 확보하였다. 본 논문에서는 PC침목 최적 설계 과정의 간략한 과정과 철도용품 규정 철도 5620-1073에따른 침목휨 강도 시험, EN13230-4:2002시험규정에 따른 피로시험과정과 그 결과를 다루었다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 추계학술대회 논문집
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• pp.283-290
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• 2007

A bi-modal tram has been developed to offer an advanced transportation service compared with existing vehicles. The All-Wheel-Steering system is applied to the bi-modal tram to satisfy the required steering performance because the bi-modal tram has extended length and articulated mechanism. An ECU for the steering system is essential to steer wheels on 2nd and 3rd axles by the specific AWS algorithm with the prescribed driving condition. The Hardware-In-the-Loop Simulation(HILS) system is planned for the purpose of evaluating the steering system of the bi-modal tram. There are kinematic links with the hydraulic actuator to steer wheels on each 2nd and 3rd axles and also same steering mechanism as the actual vehicle is in the HILS system. Controlling the movement of hydraulic actuator which reflects the lateral steering reaction force on each wheel is the key to realize the HILS system, but the reaction force is continuously changed according to various driving conditions. Therefore, the simulation through the multi-body dynamics model is used to obtain the required forces.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 추계학술대회 논문집
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• pp.529-544
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• 2007

After rapid running is begun in domestic, problem by the train gust that was not considered at existent train running appeared. If the High-Speed railway business speed rises by 350km/h in the future, is going to become more big problem. This study conducts an experiment that measure in local about KTX train beside Gyeong-Bu High speed railroad track about aerodynamics effect that happen by passage of train and analyzed. In case KTX II runs with the 350km/h speed, forecasted effect that get in the simple vertical surfaces parallel to tracks according to distance from rail center. Compared construction size with structural analysis in case do not consider with case that consider the train gust about sound proof walls representatively. As a result, proposed wind load standard that apply at sound proof walls design.

• 한국해양공학회지
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• 제19권2호
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• pp.82-89
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• 2005

This study deals with the development of the extended Kalman filter(EKF) algorithm for the localization of underwater mining vehicles. Both simulation and experimental studies in a test bed are carried out. For the experiments, a scale dawn tracked vehicle is run in a soil bin containing cohesive soil of bentonite-water mixture. To develop the EKF algorithm, we use a kinematic model including the inner/outer track slips and the slip angle for the vehicle. The measurements include the inner and outer wheel speeds from encoders, the heading angle from a compass sensor and a fiber optic rate gyro, and x and y coordinate position values from a vision system. The vision sensor replaces the LBL(Long Base Line) sonar system used in the real underwater positioning situations. Artificial noise signals mimicking the real LBL noise signal are added to the vision sensor information. To know the mean slip values of the tracks in both straight and cornering maneuver, several trial running experiments are executed before applying the EKF algorithm. Experimental results show the effectiveness of the EKF algorithm in rejecting the sensor measurements noise. Also, the simulation and experimental results show close correlations.

• 로봇학회논문지
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• 제5권3호
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.