• 한국군사과학기술학회지
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• 제6권4호
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• pp.9-21
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• 2003

This paper describes the practical implementation of a semiactive hydropneumatic suspension system to provide the high off-road performance of military tracked vehicles. Real gas behavior of a spring system, frictional forces of joints, and the dynamics of a continuously variable damper are considered. The control system is consisted of two control loops, an outer loop calculates a target spool position which can deliver the required damping force and an inner loop tracks the required spool position. Dynamic tests of the one axis model show that the semiactive suspension system considerably reduces the acceleration as well as velocity and displacement of the sprung mass than the passive one.

• 한국군사과학기술학회지
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• 제4권2호
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• pp.9-16
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• 2001

In this paper, general design process for Tracked Fighting Vehicle has been suggested. Stress analysis and optimal design for ply angle of IFV's composite upper hull has been calculated using KMA CIFV and it is contained exploratory development of design process. In this point, this paper applied composite to IFV's upper hull. Finite element mesh has been made using Matlab program, and we have analyzed stress based on the given material properties and ply arrangement. For each load condition, load distribution in plane and failure index are calculated by using Tasi-Hill criterion, which is composite failure criterion and analyzing change of failure index as change of ply angle. Finally, optimal ply angles of upper hull are calculated using KMA CIFV. We can estimate the decrease of weight for IFV's upper hull.

• 대한전기학회논문지
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• 제38권12호
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• pp.1007-1013
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• 1989

This paper describes the procedure of kinmatic design of a quadruped walking machine which has better mobility and higher energy efficiency than the wheeled or tracked vehicles on the rough terrain. Specifically, this paper puts much emphasis on the procedure and its rationality of the design of the leg which is the key mechanical element of the walking robot. And it shows the appropriateness of the selected mechanism and the design method through the walking experiment of the prototype machine built upon the resulted design. The pantograph mechanisms are proved to be acceptable as the leg of the walking machine from the experiment even though it is indicated that the walking speed and the body deflection should be improved further. This paper also describes the problems of the realization of the gait the frictional effects along with their causes in the walking experiment.

• 한국소음진동공학회논문집
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• 제17권8호
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• pp.747-756
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• 2007

The hydropneumatic suspension units, which have applied to the tracked vehicles, have the spring and damping function in the unit. The nonlinear characteristics such as roadwheel rotation effects, gas behavior changes, hydraulic damping characteristics, hysterisis, and frictional forces have been ignored or simplified to analyze the mathematical models in many areas. This study describes the dynamic characteristics and the nonlinear behaviors of hydropneumatic suspension unit considering the nonlinear effects such as the nonlinear spring and nonlinear damping through the simulation and the experiment. The utility of nonlinear analysis through the higher-order spectral analysis is also presented.

• 한국소음진동공학회논문집
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• 제12권1호
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• pp.29-35
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• 2002

A simulation program for vehicle dynamic analysis was developed. The Cartesisn coordinate system was used for translational motion and the Euler angle system was used for rotational motion. A three dimensional multi-wheeled vehicle model and equations of motion were derived. Also static equilibrium analysis was added for initial vehicle condition setting. The program user can describe the exact characteristics of suspension spring force and damping force in the user subroutine. A wheel-ground contact model which represents geometrical effect was developed. Two cases of simulation for 16 D.O.F. vehicle model were conducted to validate the developed program by comparing the simulation results with the experimental data.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.490-496
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• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• 한국정보통신학회논문지
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• 제25권4호
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• pp.611-614
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• 2021

In this paper, we propose a widerange array microphone for lecturer tracked with Frequency Modulated Continuous Waveform (FMCW) radar sensor. Time Difference-of-Arrival (TDoA) is often used as audio tracking, but the tracking accuracy is poor because the frequency of the voice is low and the relative frequency change is large. FMCW radar has a simple structure and is used to detect obstacles for vehicles, and the resolution can be archived to several centimeter. It is shown that the sensor is useful for detecting a speaker in open area such as a lecture, and we propose an wide range 4-element array microphone beamforming system. Through some experiments, the proposed system is able to adequately track the location and showed a 8.6dB improvement over the selection of the best microphone.

• 한국정밀공학회지
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• 제13권11호
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• pp.152-162
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• 1996

A four-legged Walking Machine can move on the plain terrain with mobility and stability and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra time to cross those obstacles and the stability should be considered during motion. The main objective is the study a Quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a Quadruped can move on any mixed rough terrain as 4-legged terrestrial vertebrates move. Each leg of a Quadruped has a limited walk space called a walking volume and this is very important to deter- mine the crossing capability in a static analysis. A Quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain information from scanner and finally can move with mobility and stability.

• 한국군사과학기술학회지
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• 제15권6호
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• pp.721-728
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• 2012

The tracked SUGVs(Small Unmanned Ground Vehicles) are frequently operated in the narrow slope such as stairs and trails. But due to the nature of the tracked vehicle which is steered using friction between the track and the ground and the limited field of view of driving cameras mounted on the lower position, it is not easy for SUGVs to trace narrow slopes. To properly trace inclined narrows, it is very important for SUGVs to keep it's heading direction to the slope. As a matter of factor, no roll value control of a SUGV can makes it's heading being located in the direction of the slope in general terrains. But, the problem is that we cannot directly control roll motion for SUGV. Instead we can control yaw motion. In this paper, a new slope driving method that enables the vehicle trace the narrow slopes with IMU sensor usually mounted in the SUGV is suggested which including an estimation technique of the desired yaw angle corresponding to zero roll angle. In addition, a fuzzy steering controller robust to changes in driving speed and the stair geometry is designed to simulate narrow slope driving with the suggested method. It is shown that the suggested method is quite effective through the simulation.

• 한국산학기술학회논문지
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• 제12권4호
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• pp.1539-1546
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• 2011

할론(Halon)은 소화능력이 뛰어나 특수용도의 소화약제로 사용되었지만 오존층 파괴물질로 지목되어 생산 및 사용이 중단되었다. 할론의 대체 소화약제로 Novec1230이 유력하여, 이를 궤도차량용 소화기의 소화약제로 사용하기 위해 소화기 밸브의 구조를 Novec1230의 특성에 맞게 개발해야 한다. 따라서 대체 소화약제용 소화기 밸브의 구조를 6가지로 제작을 완료하였다. 이들의 성능을 검증하기 위해 시험실을 제작하여 비화재시의 소화약제의 분사 형상과 분사 시간을 실험하였으며, 화재시 소화능력을 파악하였다. 그 결과 A타입과 F타입의 밸브가 다른 4가지 타입보다 20% 이상 그리고 미군의 육군기준(MIL-DTL-62547)인 2-3초보다 178%이상 빠른 시간에 진화되는 친환경 소화약제이므로 Novec1230에 적합하다는 것을 알았다.