• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.11
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• pp.646-654
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• 1999

This paper deals with PWM patterns for harmonic reduction in inverter fed traction motors and the gear changing techniques for the variable speed drive of traction motor. GTOs are used as switching device of inverter because traction motor is a large load. To derive PWM rattern which can minimize the harmonics with the limited switching frequency, the output current and torque characteristic of SPWM and SHE PWM was analyzed. GTO inverter used for traction motor drive includes harmonics in the output current and torque by the limitation of switching frequency. However, the hybrid PWM method that adopt SPWM in the range of low frequency and SHE PWM in upper frequency range can achieve less harmonic characteristics in GTO inverters. If the traction motor is driven in variable speed by the proposed PWM pattern, 7 times of gear changing is needed. At the instant of the mode change, magnetic flux and torque may be altered and the large current flow. To reduce such an undesirable transient behavior, it is also presented the technique for the gear changing of inverter fed traction motor drive operated with the hybrid PWM. The results are verified by simulations and experiments.

• International Journal of Railway
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• v.3 no.2
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• pp.54-59
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• 2010

In order to develop the deep-underground GTX (Great Train eXpress) in domestic, the running performance analysis of the propulsion system by a variety of route condition must be carried out before studying the specification and the development of the high-speed propulsion system with inverter and traction motor. Then it is necessary to study the running resistance properties of the high-speed traction system for the variety of tunnel type and vehicle organization method at first. In addition, the properties of the power requirement of the traction motors needed to maintain the balanced speed of the high-speed traction system are next studied. We need to study properties of the emergency braking distance caused by the highest operation speed of the high-speed traction system and present the fundamental design technologies to develop the high-speed traction system for the deep-underground GTX. Finally, the paper analyzes the applicability of the conventional Korean Tilting Train eXpress (TTX) propulsion system on the high-speed propulsion system for the deep-underground GTX.

• Journal of the Korean Society of Safety
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• v.25 no.2
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• pp.18-23
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• 2010

This paper describes a cause of fire accidents on power system fire DC electric traction vehicles. We investigated fire scene of power line for DC electric traction vehicles. From analysis results, the cause of fire on power line turned out line to ground fault between a feeder of electric power services(pantagraph) and DC electric traction vehicle roof. Fire accident of DC electric traction vehicles be assumed that electric sparks had been produced between the pantagraph and the power line conductor by repetitively making contact and separation, maybe if some material like branches get in between connecting rod it makes progress line to ground fault. ZnO arresters are widely used to protect DC electric traction vehicles against overvoltages caused by lightning or switching surges. However, the arresters are deteriorated by commercial overvoltages and/or lightning one. The deteriorated arresters could lead power failures, such as line to ground fault by a thermal runaway resulting from the increases in leakage current even in a nominal power system voltage. Finally, the power failures would be causative of the fire accident.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.25 no.1
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• pp.1-7
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• 2019

Background: The purpose of this study is investigate the effects of cervical range of motion (ROM) and forward head posture (FHP) on cervical manual traction in normal adults. Methods: The subjects were randomly assigned to either the experimental group(Female 9, Male 6) who conducted the manual cervical traction or the control group(Female 9, Male 6) who did not conduct the any intervention. The subject in the EG have conducted the 1 set of 10 minutes of manual cervical traction per day, 2 times a week for 6 weeks. The cervical ROM was measured by the digital inclinometer and The factors of FHP was measured by cranial vertebral angle (CVA) and cranial rotation angle (CRA). Results: Comparing the cervical ROM and FHP between the experimental and control groups before and after the experiment, it could be seen that flexion, extension, right lateral flexion, left lateral flexion, CVA and CRA of the experimental group has been increased. Thus, cervical manual traction was resulted in the increased cervical ROM and decrease FHP. Conclusion: In this study, it was confirmed that cervical manual traction affects increase cervical ROM and decrease FHP that play a important role in neck stability and mobility.

• Journal of the korean academy of Pediatric Dentistry
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• v.51 no.3
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• pp.310-320
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• 2024

Impaction of the tooth can cause functional and esthetic problems, so early intervention is critical. This report describes two cases of orthodontic traction of impacted mandibular canine and mandibular premolar teeth using a modified mandibular lingual arch soldered with traction hooks rather than a conventional orthodontic appliance. By planning the position and shape of the traction hooks with consideration for the three-dimensional position and angulation of the impacted teeth, clinicians can apply the intended direction and magnitude of traction force. Furthermore, this appliance can be used for multiple impacted teeth in various locations within the mandibular arch by modifying the position and shape of the traction hooks.

• Korean Journal of Acupuncture
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• v.29 no.3
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• pp.385-395
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• 2012

Objectives : Meridian sinew theory was introduced in Miraculous Pivot, Huangdi's Internal Classic, to explain in relation with locations of meridian sinews, causes, mechanisms, and treatment of diseases. The meridian sinews are understood to include muscles, tendons and ligaments, or muscles in the superficial body made up with muscles, ligaments, tendons, fascia etc. This theory shows the similarity or organic relationship between the meridian sinews and muscles. From the Hippocrates(460-385 BC) ages, traction therapy was used as a treatment method on muscular diseases such as low back pain, scoliosis, etc in western medicine. The effects of traction therapy, however, were unclear so that this study was purposed to illustrate the effectiveness of continuous traction therapy and to develop meridian sinews treatment. Methods : We made 2 hypotheses to explain the cause of scoliosis occurrence, muscles contraction and relaxation. As the hypothesis, we made the spinal model having 3 joints with wood and rubber bands. Each of the three joints in the spinal model represents the case of normal(NT; control), contraction(AT 1)and relaxation(AT 2) condition, and distance between the vertebrae joints was measured. Results : Under normal circumstance models, the normal type 1(NT 1; muscle relax state) and normal type 2(NT 2; muscle contract state) all joints were being towed equally. But in an unusual contracted situation, regardless of the relationship of joint area, contracted part of joint was not released. And in a relaxed situation, regardless of joint areas, released parts of joint were further released. These observation results mean that the effects of traction might be different from the purpose of traction therapy of Hippocrates. Conclusions : To explain the effect of traction therapy for scoliosis, the spinal cord model and scoliosis model were made. After vertebral bodies were pulled with different tensile forces, we compared the observed length of the each joints pulled. The results suggested that there were no effects of traction in objected parts with traction method from Hippocrates' design, continuous traction method. Moreover, it may worsen the symptom in worst case. Of course, our results are just the result of experimental models and clinical results may be different. More careful studies, therefore, are required.

• Journal of the Korean Society for Railway
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• v.2 no.1
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• pp.56-66
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• 1999

This purpose of this paper is to perform the readhesion control algorithm of the urban railway traction. A study on readhesion control algorithm is done for the adhesion system. This system has all characteristics of the voltage source converter by a process ability to regenerate power. The traction motor is controlled by IGBT inverter. The test equipment composes traction motor, torque-meter, clutch, and a tubular type of interia mass.

• Proceedings of the KSR Conference
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• 2003.10a
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• pp.151-155
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• 2003

In this paper, as the first step to assess and enhance the reliability of Korea High Speed Train, electric traction system is selected and reliability analysis is carried out. The electric traction system is classified into subsystems and functional block diagrams and reliability block diagrams are drawn. Expressions to calculate the reliability are deducted and Mean Kilometer Between Service Failure is calculated using the trial test results on the track. Calculated results show reliability growth of the electric traction system.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.445-450
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• 2008

The primary role of traction power systems is to provide reliable and continuous electrical energy to satisfy traction loads. AC traction substation transforms power from generation company and supply the power to the electric railway power line. Forced outage rate(FOR) of the equipment of substation should be used in the evaluation. This paper proposes the fast and easy way to evaluate by using Bayes' theory when a new equipment is added to the existing substation facility.