• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2003년도 추계학술발표대회 논문집
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• pp.163-166
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• 2003

Since the track pin is subjected to large transverse track tension from the track link, conventional track pins for high mobility vehicles are usually made of high strength steel, which increases the weight of tracked vehicles due to the high density of steel. In this paper, several composite materials were employed for track pin design to reduce weight of track pin as well as to enhance the fatigue life of rubber bushings. Especially the effects of shear stiffness of the composites on the life of rubber bushing were investigated.

• 한국자동차공학회논문집
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• 제14권6호
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• pp.66-72
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• 2006

In this paper, an analytical investigation on the track separation mechanism for tracked excavator was studied. Relative motions of track links, sprocket, idler and support rollers are very important in the driving of an excavator The interference and friction between each components lead to noise and vibration. And also this has a great influence on the life for tracked excavator. RecurDyn program was used for the three dimensional modeling of the track assembly. Investigating the interference between sprocket and track links, the mechanism of the track separation was analyzed.

• 한국자동차공학회논문집
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• 제6권4호
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• pp.24-31
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• 1998

In this study, a procedure is presented for the dynamic analysis of a multibody tracked vehicle system. The planar vehicle model used in this investigation is assumed to consist of two kinematically decoupled subsystems. i.e., the chassis subsystem and track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. The nonlinear contact force modules describing the interaction between track links, and sprocket, idler, rollers and ground will be developed.

• 한국자동차공학회논문집
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• 제9권1호
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• pp.205-215
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• 2001

In this study, modeling and analysis procedure for the dynamic analysis of a high mobility tracked vehicle system were studied. The vehicle model used in this investigation is assumed to be consist of two kinematically decoupled subsystems. The chassis subsystem consists of chassis frame, sprocket, support rollers, road wheels, idler wheel, road wheel arms and idle wheel arm, while the track subsystem is represented as a closed kinematic chain consisting of track links and end connectors interconnected by revolute joints with bushing. Nonlinear contact force module describing the interaction between track link, and sprocket, idler wheel, road wheel, support roller, ground was used. The effects of road wheel arms and idler wheel arm due to tension adjuster are also considered.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.194-199
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• 1989

In this paper, using the direct drive arm for plant, the controller is developed to track the desired trajectory in high speed and precision. For the purpose of this, through extending self-tuning pole-placement algorithm, we developed self-tuning pole-shift algorithm which is fast in response and good tracking for the reference tracking change. Developed controller is applied a three-link direct drive arm with the varing payload to track the desired tracking. And, through the computer simulation, the performance of developed controller is compared with the performance of the computed torque method and the self-tuning pole placement algorith.

• 한국위성정보통신학회논문지
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• 제12권2호
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• pp.21-27
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• 2017

국내 개발 함정 전투체계는 Link-11, 위성ISDL, JTDLS(합동전술데이터링크) 등 다종의 전술데이터링크를 운용하고 있으며, 각 전술데이터링크는 고유의 메시지를 이용하여 전술데이터링크로 표적, 교전 및 무장정보 등과 같은 전술정보를 전달할 수 있다. 함정에서 운용되는 다종의 전술데이터링크는 복수의 전술상황도(CTP), 주요기능 중복으로 업무효율성을 저하시키는 단점이 상존해 있으며, 선진국에서는 이를 극복하기 위해 전술데이터링크를 통합형 구조로 변경하는 추세에 있다. 현재 함정 전투체계에서는 위성ISDL, KNCCS, JTDLS 체계가 해군전술C4I 성능개량체계로 통합되어 운용될 예정이다. 본 논문에서는 국내 개발 함정 전투체계 전술데이터링크 개발현황을 고찰하고, 해군전술C4I 성능개량체계의 Host Interface 메시지와 위성ISDL의 I 메시지를 비교분석하여 해군전술C4I 성능개량체계의 발전사항에 대하여 제시하고자 한다.

• 한국소음진동공학회논문집
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• 제22권10호
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• pp.949-958
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• 2012

Position tracking control of a link of a slave manipulator which needed to track the corresponding link of a master manipulator was addressed in this paper. Since driving torque from motor is transmitted through a set of flexible cable to link, the motion control system is modeled by a two-mass model connected with elastic coupling which has finite stiffness. Relative vibration of two-mass resonant system is a serious problem to operate manipulator. This paper proposed sliding mode control to reduce resonant vibration and fine position tracking control. Also, a pseudo-sliding mode control which uses a saturation function instead of a signum function was discussed and showed that the pseudo-sliding mode control can improve disturbance regulation performance as well as guarantees fine command tracking without chattering which is an inherent drawback of basic sliding mode control. In addition, a disturbance observer based sliding mode control has been suggested to improve disturbance regulation performance. The feasibility of the proposed control design was verified along with some simulation results.

• 항공우주시스템공학회지
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• 제6권4호
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• pp.34-39
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• 2012

CubeSats classified as pico-class satellite require a ground station to track the satellite, transmit a command, and receive an on-orbit data such as SOH (State-of-Health) and mission data according to the operation plan. For this, ground station system has to be properly designed to perform a communication to with the satellite with enough up- and down-link budgets. In this study, a conceptual design of the ground station has been performed for the CubeSat named as STEP Cube Lab. (Cube Laboratory for Space Technology Experimental Project). The paper includes a ground station hardware interface design, link budget analysis and a ground station software realization. In addition, the operation plan of the ground station has been established considering the STEP Cube Lab. mission requirements.

• 한국항공운항학회지
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• 제25권3호
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• pp.51-60
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• 2017

Estimation of the taxi-out and taxi-in times of aircraft on a airport surface is one of the essential features of Departure Manager (DMAN). Especially for an airport with multiple runways and large ramp areas, estimation of the taxi-out and taxi-in times are mainly dependent on the taxi routes on airport surface. This paper described the method of automatic extraction of the the taxi routes using the ASDE track data and the Dijkstra algorithm based on the node-link model of a airport surface movements. In addition, we analyzed the ground operation status of Incheon International Airport using the extracted taxi routes.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.694-699
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• 2009

This paper presents the implementation of the real-time object tracking control of the ROBOKER head. The visual servoing technique is used to track the moving object, but suffers from ill-estimated Jacobian of the virtual link design. To improve the tracking performance, the RBF(Radial Basis Function) network is used to compensate for uncertainties in the kinematics of the robot head in on-line fashion. The reference compensation technique is employed as a neural network control scheme. Performances of three schemes, the kinematic based scheme, the Jacobian based scheme, and the neural network compensation scheme are verified by experimental studies. The neural compensation scheme performs best.