• 한국통신학회논문지
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• 제38C권12호
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• pp.1186-1195
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• 2013

상황인식을 위해 전장에 참여하는 세력 간 전술상황 교환의 주요 수단은 전술데이터링크(Tactical Data Link)이다. 한국군은 Link-11, Link-16 등 선진국의 전술데이터링크를 현재 운용하고 있으며, Link-K 기반의 합동전술데이터링크체계(JTDLS: Joint Tactical Datalink System)를 개발하여 공동 운용할 예정이다. Link-16은 태평양사령부와 공동 운용하므로, 가입번호 및 트랙번호 할당을 한국군이 독자적으로 선택할 수 없지만 Link-K는 한국군이 독자적으로 부여할 수 있다. 본 논문은, 한국군이 Link-16과 Link-K를 합동 운용할 때, 미군과 협의에 의한 할당된 Link-16 가입번호 및 트랙번호와 한국군이 독자적으로 할당한 Link-K 가입번호 및 트랙번호 간 상호운용성을 유지할 수 있는 방안을 제시하며, 합동전술데이터링크체계의 운용시험평가 결과를 통해 제안방안의 적용 가능성을 제시한다.

• Journal of Mechanical Science and Technology
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• 제14권10호
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• pp.1028-1040
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• 2000

A numerical method is presented for the dynamic analysis of military tracked vehicles of high mobility. To compute the impulsive dynamic contact forces which occur when a vehicle passes on a ground obstacle, the track is modeled as the combination of elastic links interconected by pin joints. The mass of each track link, the elastic elongation of a track link between pin joints by the track tension, and the elastic spring effects on the upper and lower surfaces of each track link have been considered in the equations of motion. And the chassis, torsion bar arms, and road wheels of the vehicle are modeled as the rigid multi bodies connected with kinematic constraints. The contact positions and the contact forces between the road wheels and track, and the ground and the the track are simultaneously computed with the solution of the equations of motions of the vehicle consisting of the multibodies. The iterative scheme for the solution of the multi body dynamics of the tracked vehicle is presented and the numerical simulations are conducted.

• 대한기계학회논문집A
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• 제28권11호
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• pp.1711-1718
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• 2004

When the tracked vehicle is running on various types of terrain, the physical properties of the interacting ground can be different. In this paper, the interactions between track link and soft soil ground are investigated using static sinkage theory of soil ground. Grouser surfaces of a track link and triangular patches of ground are implemented for contact detection algorithm. Contact force at each segment area of a track link is computed respectively by using virtual work concept. Bekker's static soil sinkage model is applied for pressure-sinkage relationship and shear stress-shear displacement relationship proposed by Janosi and Hanamoto is used for tangential shear forces. The repetitive normal loads of a terrain are considered because a terrain element is subject to the repetitive loading of the roadwheels of a tracked vehicle. The methods how to apply Bekker's soil theory for multibody track system are proposed in this investigation and demonstrated numerically by high mobility tracked vehicle.

• 한국자동차공학회논문집
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• 제11권1호
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• pp.112-120
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• 2003

In this paper, dynamic track tension fur high mobility tracked vehicle is investigated by multibody dynamic simulation techniques. This research focuses on a heavy military tracked vehicle which has sophisticated suspension and rubber bushed rack systems. In order to obtain accurate dynamic track tension of track subsystems, each track link is modeled as a body which has six degrees of freedom. A compliant bushing element is used to connect track links. Various virtual proving ground models are developed to observe dynamic changes of the track tension. Numerical studies of the dynamic track tension are validated against the experimental measurements. The effects of pre-tensions, traction forces, fuming resistances, sprocket torques, ground profiles, and vehicle speeds, for dynamic responses of track tensions are explored, respectively.

• 한국군사과학기술학회지
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• 제16권3호
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• pp.314-321
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• 2013

In this paper, we have proposed a method which can prevent data looping in multi tactical data-link operating situation. Because the situation of multi tactical data-link in Korea would be more complex than ever before, data looping is more likely to be happened. To prevent data looping, forwarder has to manage TQ(Track Quality) in forwarded track message by degrading it to enlarge correlation gate. Forwarder also has to discard useless track message which can be determined by minimum TQ value. To decide optimal formula for forwarder to degrade TQ and to determine minimum TQ, a research about track motion, correlation, TQ managing, etc in real system is necessary.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 춘계학술대회
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• pp.155-158
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• 2013

본 논문에서는 다수의 표적정보를 전송할 때 메시지 전송 효율을 최대화하기 위하여 고정 메시지 형식의 메시지 송수신 규약인 Link-16 표준에서 항적 (Air Track) 메시지를 가변 메시지 형식인 VMF (Variable Message Format)으로 변환하고 이에 대한 신뢰도를 평가하여 보완함으로써 가변 메시지 형식의 장점인 메시지 크기를 최소화하는 메시지를 설계할 수 있는 방법에 대해 연구하였다.

• ETRI Journal
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• 제32권6호
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• pp.891-900
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• 2010

In this paper, a map-matching (MM) algorithm which combines an estimated position with digital road data is proposed. The presented algorithm using a virtual track is appropriate for a MEMS-based pedestrian dead reckoning (PDR) system, which can be used in mobile devices. Most of the previous MM algorithms are for car navigation systems and GPS-based navigation system, so existing MM algorithms are not appropriate for the pure DR-based pedestrian navigation system. The biggest problem of previous MM algorithms is that they cannot determine the correct road segment (link) due to the DR characteristics. In DR-based navigation system, the current position is propagated from the previous estimated position. This means that the MM result can be placed on a wrong link when MM algorithm fails to decide the correct link at once. It is a critical problem. Previous algorithms never overcome this problem because they did not consider pure DR characteristics. The MM algorithm using the virtual track is proposed to overcome this problem with improved accuracy. Performance of the proposed MM algorithm was verified by experiments.

• 소음진동
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• 제9권6호
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• pp.1259-1266
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• 1999

본 연구의 목적은 유연성 궤도 모델을 개발하여 고기동성 궤도차량의 다물체 동역학 해석에 응용하는 것이다. 유연성 궤도 모델을 개발하는데는 대체로 두 가지 어려운 문제가 따른다. 첫째로, 해의 안정성을 유지하기 위해 적분구간이 충분히 작아야 한다는 것이다. 즉, 궤도 링크 사이의 유연성 조인트 모델과 충격적인 접촉력에 따른 고진동 입력을 처리해야 한다. 둘째로, 3차원 다물체 궤도차량 모델에 대한 수 많은 운동 방정식을 풀어야 한다는 것이다. 따라서 궤도차량을 샤시와 궤도 부시스템으로 나누고 회귀적인 방법을 사용하여 운동방정식의 수를 최소화하였다. 본 연구에서 개발된 방법을 검증하기 위하여 차량의 가속, 고속주행, 제동, 선회 등의 시뮬레이션을 수행하였다.

• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.915-920
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• 2013

Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.

• 한국융합학회논문지
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• 제7권1호
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• pp.177-182
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• 2016

중공업과 군사목적으로 사용되는 궤도차량은 고중량의 차체를 버티기 위해 차체에서 전달되는 하중으로 기동륜을 감싸고 있는 링크는 큰 힘을 받게 되는데, 이 발생된 힘은 궤도전체의 내구성 저하를 야기하게 된다. 본 논문에서는 3가지의 상용화된 궤도 패드의 형상들을 가진 모델들을 설계하고, 내구성 저하로 발생될 수 있는 궤도패드의 마모와 링크의 파손을 효과적으로 줄일 수 있는 모델을 고안하였다. 또한 본 연구 결과를 궤도차량 설계에 접목함으로써, 파손방지와 내구성향상을 위한 안전설계에 기여할 수 있으며, 패드 형상의 디자인적인 요소를 융합기술에 접목하여 그 미적인 감각을 나타낼 수 있다.