• Proceedings of the Korea Information Processing Society Conference
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• 2016.10a
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• pp.404-405
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• 2016

본 논문은 자율주행로봇의 평면 공간 주행과 평면 공간상의 Map 정보를 생성하는 것에 관한 것이다. 자율주행 로봇은 Raspberry Pi, Sonar Sensor, Gyro Sensor를 사용해 궤적 이동에 대한 정보를 수집한다. 자율주행로봇은 정확한 직진 주행 및 회전 이동을 위해 개선된 모터 제어 기법인 PID Controller를 사용한다. 정확한 Map 정보를 생성하기 위해서 System은 주행 중에 수집한 궤도의 정보를 2차원 배열과 LIFO 자료 구조에 기록하여 Map Information을 생성해 나간다.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.870-873
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• 2008

레일패드는 궤도전체의 탄성확보 뿐만 아니라 열차하중에 의해 침목으로 전달되는 충격을 완화시켜 침목과 도상의 파손을 방지하는 역할을 하는데, 통과톤수의 증가와 기후적 요인에 의하여 패드가 열화되면 패드의 강성이 증가하게 된다. 패드의 강성이 증가하게 되면 레일을 통해 침목으로 전달되는 충격하중이 증가하게 되어 침목의 파손을 유발할 수 있을 뿐만 아니라 침목하면의 도상에도 과도한 충격하중을 전달하여 도상의 손상을 가속화시킬 수 있다. 또한 레일패드의 강성변화는 궤도의 소음과 레일의 파상마모의 진전에도 영향을 미치게 된다. 따라서 레일패드의 공용기간 중에 적정한 강성을 유지할 필요가 있으며, 통과톤수의 증가에 따른 레일패드의 경화도를 산정하는 방법과 레일패드의 경화가 궤도에 미치는 영향을 정량적으로 분석하여 레일패드의 교체주기에 관한 기준을 마련할 필요가 있다. 본 연구에서는 슬래브의 질량과 일정속도대역에서의 패드강성의 민감도분석을 하여 그 결과를 비교하고 레일패드경화에 따른 대상궤도의 동적거동을 수치해석을 통하여 패드강성과 차량주행속도에 따른 윤중의 변동량과 레일의 변위, 가속도 그리고 침목의 변위, 가속도의 변화정도를 분석해 보았다. 궤도시스템의 동적해석을 위한 해석 프로그램으로는 네덜란드 델프트 공과대학에서 개발된 궤도시스템 전용 해석 프로그램인 DARTS(The dynamic analysis of a rail track structure)를 사용하였다. 대상궤도는 국내 1단계 경부고속철도에서 사용되고 있는 3중보 무도상궤도를 사용하였다.

• Journal of the Korean Geotechnical Society
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• v.34 no.6
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• pp.49-59
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• 2018

When a tracked vehicle travels off-road, shearing action and ground sinkage occur on the soil-track interface and severely affect tractive performance of the tracked vehicle. Especially, the ground sinkage, which is induced by vehicle's weight (hereinafter referred to as static sinkage) and longitudinal forces in the direction of travel producing slip (hereinafter referred to as slip sinkage), develops soil resistance, directly restricting the tractive performance of an off-road tracked vehicle. Thus, to assess the tractive performance of an off-road tracked vehicle, it is imperative to take both of static sinkage and slip sinkage into consideration. In this research, a series of model track experiments was conducted to investigate the slip sinkage which has not been clarified. Experiment results showed that the slip sinkage increased with increasing the slip ratio, but the increasing rate gradually decreased. Also, the slip sinkage was found to increase as relative density of soil decreased and imposed vertical load increased. From the experiment results, the normalized slip sinkage defined as slip sinkage to static sinkage calculated in the identical condition was investigated, and an empirical equation for the slip sinkage was developed in terms of slip ratio, which allows vehicle operators to predict the slip sinkage in a given soil and operating conditions.

• Journal of the Korean Geotechnical Society
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• v.34 no.2
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• pp.43-54
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• 2018

Underwater tracked vehicle is employed to perform underwater heavy works on saturated seafloor. When an underwater tracked vehicle travels on the seafloor, shearing action and ground settlement take place on the soil-track interface, which develops the soil thrust and soil resistance, respectively, and they restrict the tractive performance of an underwater tracked vehicle. Thus, unlike the paved road, underwater tracked vehicle performance does not solely rely on its engine thrust, but also on the soil-track interaction. This paper aimed at evaluating the tractive performance of an underwater tracked vehicle with respect to ground conditions (soil type, and relative density or consistency) and vehicle conditions (weight of vehicle, and geometry of track system), based on the soil-track interaction theory. The results showed that sandy ground and silty sandy ground generally provide sufficient tractions for an underwater tracked vehicle whereas tractive performance is very much restricted on clayey ground, especially for a heavy-weighted underwater tracked vehicle. Thus, it is concluded that an underwater tracked vehicle needs additional equipment to enhance the tractive performance on the clayey ground.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.2464-2472
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• 2011

Train runs on high speed and the concrete track is constructed. Rail fastening device needs to reduce elasticity, transferred load, noise, and vibration etc. Consequently, low elastic pad has a great impact of the durability and stability of the track. In this study, discussed in previous studies, static numerical analysis and real scale repeated loading test, followed by dynamic response analysis were implemented. The most distinctive characteristics of the model proposed is to simulate the real wheel behavior on rail. And the main analysis object is to evaluate and compare the deformation characteristics of the transition track while load reduction effect of transfer on roadbed assessed by various low elastic pad.

• Computational Structural Engineering
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• v.10 no.3
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• pp.145-155
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• 1997

In this study, static and dynamic transient analysis of tracked vehicle structure with recoil impact load is performed for transient impact and traveling load using ANSYS and ABAQUS FEM codes. When transient impact loads are applied at tracked vehicle, the maximum dynamic Von Mises stress occurs between beam stiffener of upper plate and race ring and stress level is about 390-450 MPa. The results of transient analysis shows similar level and tendency with static stress with dynamic force effect of 1.6. The excessive stresses occur around the race ring for the both cases. When the traveling loads are applied on the tracked vehicle, the maximum Tresca stress occurs around suspension #1 and is about 450 MPa and results of static and nonlinear transient analysis are quite similar.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.9
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• pp.620-627
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• 2015

Long continuous bridge deck can become contracted considerably as temperature drops, which can lead to a large expansion of sleeper span at the end of it. Since this huge sleeper span then can cause problems both with safety of train operation and structural stability of tracks, it is necessary to take the issue into consideration systematically in the designing process of the bridge. In this paper, an evaluation process through the analysis of train-track interaction was presented which can basically review the effects of the expansion of sleeper span at the end of long continuous bridge deck on the safety of the train and the structural stability of the track. The analyses of the interaction between the light rail train and tracks were carried out targeting the sleeper span as a main parameter. The safety of train operation and structural stability of tracks in a light rail system due to the expansion of the sleeper span were evaluated by comparing the numerical results with the related criteria.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.10a
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• pp.819-822
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• 2009

환경 소음,진동 개선의 측면에서 철도 레일 하부로 전달되는 진동 및 구조소음을 효과적으로 차단하기 위하여 국내에서도 탄성 이산지지 구조의 플로팅 슬라브를 적용하는 경우가 증가하고 있다. 플로팅 슬라브 구조설계에 있어 주안점은 방진효율 증대와 슬라브 자체 중량의 2~3배 되는 열차 주행간의 동하중에 대한 열차 주행 안정성을 고려해야 하는 점이며 열차의 고속화 경향에 따라 동하중의 증가는 더욱 커지고 있다. 본 연구에서는 이산지지 방진장치를 적용한 철도 슬라브 궤도의 동특성과 이동질량에 의한 응답을 방진장치의 지지 간격, 스프링 상수 등을 설계변수로 하여 수치해석적 방법으로 시뮬레이션하였다.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.3
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• pp.154-161
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• 2005

The durability of a vehicle is a very important performance which can be evaluated from endurance test. This study developed a procedure for determination of a duty cycle theoretically. Vehicle load data is classified and rearranged using standard test road profile. A load pattern and a duty cycles are extracted from classified vehicle data using genetic algorithm. A duty cycle could be utilized in dynamo test to meet required test mileage. The derived duty cycles have been verified by fatigue test through the dynamometer test.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.155-161
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• 2005

Up to now, a lot of unmanned demining systems have been developed. However, some inferiority surely exist by reason of their large platform and explosive mechanism. To settle this inferiority, non-explosive demining system adaptable to a mobile robot already has been developed. Brief experiment indoors showed that developed demining system can remove landmines well. But, out of doors, several problems are detected. In this research, a study on the performance improvement of developed non-explosive demining system is mainly discussed. To overcome downhill effect, mechanical sensor composed of shaft and spring is used. It is confirmed that clearance depth control using the mechanical sensor is a good solution for the inclination of the system.