• International Journal of Aeronautical and Space Sciences
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• v.14 no.2
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• pp.183-192
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• 2013

This paper presents formation reconfiguration using impulsive control input for spacecraft formation flying. Spacecraft in a formation should change the formation size and/or geometry according to the mission requirements and space environment. To modify the formation radius and geometry with respect to the leader spacecraft, the follower spacecraft generates additional control inputs; the two impulsive control inputs are general control type of the spacecraft system. For the impulsive control input, Lambert's problem is modified to construct the transfer orbit in relative motion, given two position vectors at the initial and final time. Moreover, the numerical simulation results show the transfer trajectories to resize the formation radius in the radial/along-track plane formation and in the along-track/cross-track plane formation. In addition, the maneuver characteristics are described by comparing the differential orbital elements between the reference orbit and transfer orbit in the radial/along-track plane formation and along-track/cross-track plane formation.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.360-362
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• 2006

This paper proposes a new track-following control method using disturbance observer with the freedom of gain and frequency adaptation in optical disk drive system. Recent ODDs use smaller track pits, higher rotation speed and broader rotational speed variations to increase the data capacity and data transfer rate. This cause the degradation of track-following performance by increasing the disturbance of the rotary system. In this paper, we discussed on a DOB structure that efficiently attenuate the disturbance without effecting the overall feedback loop characteristics on CLV type ODD which uses a higher and broader range of rotational speed. DOB structure uses two band pass filter. We analyzed the track-following performance sensitivity on rotational frequency variance and gain changes. This analysis is done on a computer simulation environment and actual ODD product.

• Proceedings of the KSR Conference
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• 2003.10b
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• pp.117-122
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• 2003

Cheongdam Bridge in Seoul Metropolitan Subway Line No.7 recently constructed has 180 meters (2@90m) of expansion length of structure (distance between fixed points). Track type is all ballasted track and rail expansion joint is installed at every movable point. However, there is no expansion joint at the transition area between ballasted track ,end deck. By this reason, the rail buckling has been occurred every year and there is actually an abnormal behavior in expansion. In this study, based on the modeling of the Cheongdam Bridge, the element of interacting relationship between track and structure which is influential to track displacement in long-span bridge was analyzed and, finally, the methodology to ensure the continuous-welded rail in Cheongdam Bridge was suggested.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.1085-1090
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• 2007

In recent railway construction, the concrete slab track is getting highlighted as main stream in track type. However, it is the fact that there are different opinions in selection of the optimized spring coefficient of elastic pad. In this study, the performance of vibration reduction in different stiffness of rail pad for ballasted track was compared, and the changes in characteristics, such as static/dynamic deflection of components, vibration acceleration, insertion loss etc., were analysed by using ISI Program for various types of rail fastening system used in concrete slab track. It was concluded that the fastening system with softer pads has shown the better performance of vibration reduction in concrete slab track and the optimized static stiffness has been calculated to 21.1kN/mm for conventional railways, 17.6kN/mm for high-speed railways and 17.8kN/mm for subways.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.1186-1195
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• 1993

The Japanese type combine harvester has adopted rubber crawlers for the driving mechanism from first production . However, combine harvesters with movable track rollers in the rubber crawler system have been adopted recently for the purpose of stability at the time of climbing over the footpaths between rice fields, as the results of the machines becoming large. However, the dynamic characteristics of movable track rollers have not been clarified. For this reason, the design of movable track rollers depends on trial and errors. It is known that vibration characteristics of the vehicle with movable track rollers are different from the vibration characteristics of the vehicles with fixed track rollers even though the track roller arrangements are the same. Therefore, the theoretical analyses of movable track rollers must be hurried in order to formulate a reasonable track roller arrangement design. the authors have studied the vibration characteristics of the rubber crawler ve icle with fixed track rollers. in this study, the dynamic model of the vehicle with movable track roller sis compared with the dynamic model of the vehicle with fixed track rollers. Next, motions are simulated to analyze the movable track rollers by expanding the motion equation which were constructed for the dynamic model of the fixed track rollers.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.3
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• pp.275-282
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• 2015

Recently, Vecna BEAR type robot to save injured individuals from inaccessible areas has been developed to minimize the loss of life. Because this robot is driven on rough terrain, there is a risk of rollover and vibration, which could impact the injured. In order to guarantee its stability, an algorithm is required that can estimate the speed limits for various environments in real time. Therefore, a dynamic model for real-time analysis is needed for this algorithm. Because the tracks used as the driving component of Vecna BEAR type robot consist of many parts, it is impossible to analyze the multibody tracks in real time. Thus, a lumped track model that satisfies the requirements of a short computation time and adequate accuracy is required. This study performed lumped track modeling, and the traction force was verified using RecurDyn, which is a dynamic commercial program.

• Journal of The Korea Institute of Healthcare Architecture
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• v.19 no.3
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• pp.21-28
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• 2013

Purpose: General hospital in korea is getting large-scaled, specialized and upgraded. So, nursing unit of race track type has been advanced along with a spatial organization, building equipment and environmental approach. This study is to search the guidelines for renovation of nursing unit with race track type in the case of K university hospital in Daejeon. Methods: 9 cases of recently opened general hospital has been analyzed for spatial and environmental design solution. Questionnaires and interviews about user needs of nursing staff, patient and visitors, have been conducted for a nursing care system and facility of nursing units in K university hospital. Results: The user needs are represented as followings. Center core public zone in each floor plan and center core nursing station and supporting areas in nursing unit are good for an adjacency and separation of spatial organization. Toilet of group patient room is necessary to equip for easy, safe and infective aspects, and so toilet install will decrease the patient number and increase the nursing care service. Hall type of station front is good for visibility and observation. It is appropriate to renovate into south facing group patient room for privacy, enough space for nursing care facility and supporting area, enough width of door to move portable medical equipment, room for medical doctor and practical student, noise absorbing of day room. Implications: Upgrading the nursing care service and facility equipment is necessary to reflect the user needs and cooperate with hospital management.

• Structural Engineering and Mechanics
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• v.47 no.5
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• pp.661-678
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• 2013

As a new type of vibration reduction, the ladder track system has been successfully used in engineering. In this paper, a numerical model of the train-track-viaduct system is established to study the dynamic responses of an elevated bridge with ladder track. The system is composed of a vehicle submodel, a track submodel and a bridge submodel, with the measured track irregularities as the system self-excitation. The whole time histories of a train running through an elevated bridge with $3{\times}27m$ continuous PC box girders are simulated. The dynamic responses of the bridge such as deflections, lateral and vertical accelerations, and the vehicle responses such as derailment factors, offload factors and car-body accelerations are calculated. The calculated results are partly validated through the comparison with the experimental data. Compared to the common slab track, adapting the ladder sleeper can effectively reduce the accelerations of the bridge girder, and also reduce the car-body accelerations and offload factors of the train vehicle.

• Proceedings of the KSR Conference
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• 2003.05a
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• pp.337-342
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• 2003

The dynamic load effects are conveyed to the railway bridges through tracks which are generated by moving trains The dynamic load effects may vary due to the dynamic characteristics of the applied vehicle loads and the railway bridges containing the track system. However, the track effects have been neglected or simplified by spring elements in the most studies since it is quite complex to consider the track systems in the dynamic analysis models of railway bridges. In this study, track system on railway bridges is modeled using a three-dimensional discrete-support model that can simulate the load carrying behavior of tracks. In addition, this program is developed with the precise 20-car model and a continuous PSC(prestressed concrete) box girder bridge, which is the main bridge type of Korea Train express(KTX). Three-dimensional elements are used for both. The dynamic response of railway bridges is found to be affected depending on whether the track model is considered or not. The influencing rate depends on the traveling speed and different wheel-axle distance. The dynamic bridge response is decreased remarkably by the track systems around the resonant frequency. Therefore, the resonance effect can be reduced by modifying the track properties in the railway bridge.

• ICROS
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• v.10 no.4
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• pp.35-42
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• 2004

일반적으로 21세기에는 로봇이 기존의 인간이 가지고 있던 작업영역을 대처 할 거라고 말해지고 있으며 가까운 미래에 재난 현장, 인명구조, 지뢰제거, 정찰과 같은 위험작업 영역에 대해서 먼저 기존 인력을 대처할 수 있는 이러한 로봇의 필요성이 두각 되고 있다. 그러나 이러한 위험 작업 현장에서 운영이 가능한 로봇이 만들어지기 위해서는 일차적으로 일반적인 위험작업 지역인 계단과 같은 비 평탄 지형에 대한 이동 성능을 보장할 수 있는 로봇 이동 기술의 개발이 필요하다 일반적으로 이동형 로봇은 Wheel Type, Track Type 그리고 Walking Type으로 구분이 된다. 하지만 비평탄 지역에서 Wheel Type은 Track Type에 비해서 상대적인 주행성능이 떨어진다고 일반적으로 말해지고 있으며 또한 Walking Type은 제어방식이 복잡하고 제어부의 크기가 커서 앞의 두 방식에 비해 절대적으로 이동속도가 느리다는 단점을 가지고 있다. (중략)