• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.251-257
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• 2012

Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.

• Journal of the Korean Society for Railway
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• v.18 no.3
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• pp.203-211
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• 2015

Ride comfort of a vehicle can be utilized to maintain the track geometry and track irregularities because ride comfort of the rolling stock is affected by the characteristics of the vehicle and track. Ride comfort was evaluated according to the measured floor acceleration data of vehicles for a Korean high speed line as well as European high speed lines using Continuous comfort method which can be applied to track maintenance. The exceedance distribution of the ride comfort was quantitatively analyzed by the vehicle speed, the ride comfort of the Korean high speed line was compared with that of European high speed lines. It is shown that the ride comfort of Korean high speed line is better than that of European high speed lines, which indicates that the Korean track geometry and track irregularities are properly maintained.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.7
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• pp.597-602
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• 2015

In this paper, we studied the steering performance of wheelset with primary suspension characteristics of railway vehicle. We carry out dynamic analysis and experimental study for the vehicle models which are different primary suspension characteristics. The steering angle of a vehicle model (Case 1) operating in domestic subway lines is insufficient compared with an objective steering angle for curved track. And the steering angle of a vehicle model (Case 2) with improved self-steering performance of wheelset is a little improved compare to previous vehicle model. But also Case 2 model is still insufficient compared with an objective steering angle and has its limit in steering performance. So to overcome this limit of steering performance of passive type railway vehicle, an active steering technology is being developed. In case of vehicle model with active steering system, the steering performance is improved remarkably compared to passive type vehicle model.

• Proceedings of the KSR Conference
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• 2002.10a
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• pp.193-201
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• 2002

The development of railway vehicle and bogie involves the proper selection of design parameters not only to achieve high speed but also to reduce the vibration of the train. In this study an analytical model of a high speed freight car is developed to find the critical speed. The high speed freight car can generate the snake motion of the lateral and yawing motion of the car body, the bogie, and the wheelset. Numerical analysis for the nonlinear equation motions with 17 degrees of freedom showed the running stability and critical speed due to the snake motion. Also, the vibration modes of tile high speed freight car was calculated using ADAMS RAIL, which showed that the critical speed have the yawing modes of the car body and the bogie. Finally, this paper shows that the snake motion of the vehicle can be controlled with the modifications of the design parameters.

• Proceedings of the KSR Conference
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• 2011.05a
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• pp.528-535
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• 2011

According to railway safety regulations for securing the railway vehicle's quality and performance, it can be partly exempted that the performance tests and production inspections on the railway vehicles which are produced and assembled for the purpose of test and research. The reasons of this exemption are for ensuring maximum autonomy and for saving time considered the development period of railway vehicle. However, it was continuously demanded the necessity of supplementation on the confirmation about railway vehicle's quality & performance. Therefore, we added "The monitoring step" which is for securing the quality and performance in high speed railway vehicle's subsystem & compartment to supplement those tests & inspections in development. In this paper, based on a standard ABS(Activity Breakdown Structure) of railway vehicle and a WBS(Work Breakdown Structure) of the railway vehicle system, we investigate the necessity of monitoring in the High speed railway vehicle development. And by comparing and analyzing the essential requirements of international standard, IRIS(International Railway Industry Standard) & TSI(Technical Specification for Interoperability), we try to examine a standard monitoring procedure.

• Proceedings of the KSR Conference
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• 2009.05b
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• pp.409-417
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• 2009

This paper is focused on a relationship between the noise and vibration of a wheelset and the railway irregularity of a high speed railway using a time-varying frequency transform for a preliminary research of the railway condition monitoring by an in-service high-speed railway vehicle. Generally, the monitoring has been performed by a special railway inspection vehicle or industrial engineers for railway maintenance. However, they have been limited at night due to the in-service high-speed railway vehicles, and too slow to monitor all of the section. To solve this problem, the monitoring should be performed by an in-service high-speed railway vehicle. For the research, the noise and vibration of a wheelset are utilized, because they are closely related to the railway condition. They are measured by using some microphones and accelerometers, and stored in an on-board data acquisition system. The signals are post-processed by a time-varying frequency analysis and compared with the result of a railway geometry and profile measurement system. From the comparison, it is able to observe the relationship between the noise and vibration of a wheelset and the irregularity of a high-speed railway. Also, some distinct frequency components are observed, which are not observed in the railway geometry and profile.

• Journal of ILASS-Korea
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• v.21 no.4
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• pp.214-222
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• 2016

Changes in road infrastructure affect driving patterns and pollutant emission characteristics. we analyzed the changes in driving patterns and pollutant emission characteristics of the driving route via measured driving patterns at year 2009 and 2016. Since 2009, there has been an increase in population and traffic demand, including residential areas and industrial facilities. Traffic conditions were improved such as the opening of the highway Inter-Change to Seoul and the construction of underground driveway. As a result, the average vehicle speed increased. More detail comparisons have made on the changes of the underground driveway section and the crossroad section, which are expected to have significant changes in the transportation infrastructure. The vehicle speed distribution of the underground driveway changed from low speed to high speed, and the increase of the time spent at the high speed and high load caused the increase of NOx emissions. The vehicle speed also increased at the crossroad section, and the consequence NOx and $CO_2$ emissions decreased. It is mainly because the decreased time spent at idle, which results from the proper traffic demand management at this area.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.380-386
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• 2008

The development of a new railway vehicle is under progress through the Next Generation High-Speed Rail Development Project in Korea. Its aim is to develope fundamental technology of the vehicle that can run over 400km/h. The new distributed traction bogie system, 'HEMU'(High-speed Electric Multiple Unit), will be used and is different from that of previously developed high speed railway vehicles. Previous vehicles adopted push-pull type system, which means one traction-car drives rest all of the vehicle. Due to the difference, investigation on dynamic behavior and its safety evaluation are necessary, as a part of verification of the design specification. In the paper, current progresses of researches are presented. And the High-Speed Railway vehicle system is evaluated for a dynamic characteristic simulation. Proper dynamic models including air-suspension system, wheel-rail, bogie and car-body is developed according to the vehicle simulation scenario. The basic platform for the development of dynamic solver is prepared using nodal, modal coordinate system and wheel-rail contact module. Operating scenario is prepared using commercial dynamic analysis program and used for development of dynamic model, which contains many parts such as carbodies, bogies and suspension systems. Furthermore, international safety standard is applied for final verification of the system. Finally, the reliability of the dynamic model will be verified with test results in the further researches. This research will propose a better solution when test results shows a problem in the parts and elements. Finally, the vehicle that has excellent performance will be developed, promoting academic achievement and technical development.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.1838-1844
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• 2011

In this paper, the propulsion control of a high-speed maglev train is studied. Electromagnetic suspension is used to levitate the vehicle, and linear synchronous motors (LSM) are used for propulsion. In general, a low-speed maglev train uses a linear induction motor (LIM) for propulsion that is operated under 300[km/h] due to the power-collecting and end-effect problem of LIM. In case of the high-speed maglev train over 500[km/h], a linear synchronous motor (LSM) is more suitable than LIM because of a high-efficiency and high-output properties. An optical barcode positioning system is used to obtain the absolute position of the vehicle due to its wide working distance and ease of installation. However, because the vehicle is working completely contactless, the position measured on the vehicle has to be transmitted to the ground for propulsion control via wireless communication. For this purpose, Bluetooth is used and communication hardware is designed. A propulsion controller using a digital signal processor (DSP) in the ground receives the delayed position information, calculates the required currents, and controls the stator currents through inverters. The performance of the implemented propulsion control is analyzed with a small maglev train which was manufactured for experiments, and the applicability of the high-speed maglev train will be explored.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.10
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• pp.993-1001
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• 2007

An analysis model has been developed to assess running safety of railway vehicle passing curves. By using ADAMS/Rail, a computer analysis has been conducted by changing various parameters according to the track conditions. Analysis results show as follows: A derailment coefficient of left wheel was increased according to increase of cant at low speed, while it was decreased as increase of cant at high speed. A unload rate of left wheel was also increased according to increase of cant at low speed, while it was decreased as increase of cant at high speed. A wear number of left wheel was increased according to increase of cant at all speed, but only at 35 m/s, it was decreased as increase of cant. A friction coefficient of left wheel was Increased according to increase of cant at all speed, but only at 35 m/s. it was decreased as increase of cant.