• 제어로봇시스템학회논문지
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• 제9권4호
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• pp.284-295
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• 2003

The servo tracks of disk drives are constructed at the time of manufacture with the equipment of servo track writer. Because of the imperfection of servo track writer, disk vibrations and head fluctuations during servo track writing process, the constructed servo tracks might deviate from perfect circles and take eccentric shapes. The servo track writing error should be corrected because it might cause interference with adjacent tracks and irrecoverable operation error of disk drives. The servo track writing error is repeated every disk rotation and so is periodic time function. In this paper, we propose a new correction algorithm of servo track writing error based on iterative teaming approach. Our correction algorithm can learn iteratively the servo track writing error as accurately as is desired. Furthermore, our algorithm is robust to system model errors, is computationally simple, and has fast convergence rate. In order to demonstrate the generality and practical use of our work, we present the convergence analysis of our correction algorithm and some simulation results.

• 대한기계학회논문집A
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• 제33권6호
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• pp.545-551
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• 2009

A small guard robot working indoors or outdoors can be used to report various information on its environment to an operator. The guard robot should be small-sized and lightweight to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with various situations. To satisfy these requirements, this paper presents a small robot equipped with a novel hybrid wheel and track mechanism that can select wheels or tracks depending on the situation. The robot folds the tracks into the body in the wheel mode and only wheels are active with the tracks immobilized, which results in the fast moving speed. In the track mode, the tracks are extended to keep in contact with the ground. Furthermore, this research proposes the belt length maintenance mechanism by which the belt length is kept constant in either the wheel or track mode. Various experiments demonstrate that the proposed robot can move fast by using wheels on the smooth terrain and overcome obstacles by using tracks on the rough terrain.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.287-296
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• 2011

Turnout is a mechanical installation enabling railway trains to be guided from one track to another at a railway junction. A movable nose crossing frog is a device used at a railway turnout to eliminate the gap at the common crossing (High manganese, block, assembly crossing)which can cause impact damage, noise and vibration. Our government has a plan speed up of conventional line to 250km/h semi-high speed. We had already developed flexible turnout with fixed crossing(High manganese) and SFC fastening system can cover in the semi-high speed line In this study is about development of the movable nose crossing turnout available Semi-high speed line on concrete track. This paper describes about geometry, attack angle, bending stress at the nose, switching force, safety of continuous welded long rails. This movable nose crossing turnout is expected greatly increases passing speed of turnout in national railway.

• ETRI Journal
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• 제39권1호
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• pp.124-134
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• 2017

Data races are one of the most difficult types of bugs in concurrent multithreaded systems. It requires significant time and cost to accurately detect bugs in complex large-scale programs. Although many race detection techniques have been proposed by various researchers, none of them are effective in all aspects. In this paper, we compare the performance of five recent dynamic race detection techniques: FastTrack, Acculock, Multilock-HB, SimpleLock+, and causally precedes (CP) detection. We experimentally demonstrate the strengths and weaknesses of these dynamic race detection techniques in terms of their detection capability, running time, and runtime overhead using 20 benchmark programs with different characteristics. The comparison results show that the detection capability of CP detection does not differ from that of FastTrack, and that SimpleLock+ generates the lowest overhead among the hybrid detection techniques (Acculock, SimpleLock+, and Multilock-HB) for all benchmark programs. SimpleLock+ is 1.2 times slower than FastTrack on average, but misses one true data race reported from Mutilock-HB on the large-scale benchmark programs.

• 제어로봇시스템학회논문지
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• 제10권2호
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• pp.153-163
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• 2004

The control objective in hard disk drives is to move head as fast as possible to target track and position the head over the center of target track in the presence of external disturbances. The external shock or disk clamping error in manufacturing process causes the disk center to deviate from the disk rotation center. The disk shift acts on the control system as disturbance and degrades severely the performance of disk drives. In this paper, we present a new controller that compensates for the periodic disturbances very fast. The disturbance compensator is arranged in parallel with the state feedback controller. To avoid the interference with the state feedback controller, the compensator creates compensation signal without the feedback of system output until steady state. The pulse type controller is included additionally for improving the transient performance due to initial state. Finally, in order to demonstrate the superior performance of the proposed compensator. we present some experimental results using a commercially available disk drive.

• 대한전자공학회논문지SP
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• 제42권3호
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• pp.15-22
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• 2005

객체 중심점에서 움직임을 추정하여 빠르게 이동하는 객체의 윤곽선을 추적 할 수 있는 알고리듬을 제안하였다. 방사상 표현(radial representation) 방식을 적용하여 객체 중심점에서만 블록정합 (block matching) 알고리듬으로 움직임을 추정하여 적은 계산량으로 객체 움직임을 추정함으로써 객체 윤곽선을 추적하였다. 객체의 움직임을 추정함으로써 프레임 간 객체의 움직임이 객체 중심에서 윤곽까지 거리 이상 빠르게 이동하는 객체도 추적할 수 있다. 에너지 수렴 과정에서 기울기 영상과 차영상(difference image)을 에너지 함수로 함께 사용함으로 복잡한 배경 등에도 강건하도록 하였다. 실험 결과 움직임이 빠른 객체와 복잡한 배경 속의 객체도 실시간으로 강건하게 추적함을 확인하였다.

• 한국철도학회논문집
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• 제8권3호
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• pp.203-209
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• 2005

Y-form steel sleeper are currently enjoying a renaissance in Germany. Their use on ballast track proves hat-especially under extreme conditions and loads-they reliably help ensure high stability and a long service life of the track. In addition to conventional partly mechanised tracklaying methods, a new Method has been developed that for the first time enables Y-form sleepers to be laid on an assembly-line basis at a fast rate and with high quality.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2002년도 추계학술대회 논문집(I)
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• pp.642-647
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• 2002

Y-form steel sleeper are currently enjoying a renaissance in Germany. Their use on ballast track proves that-especially under extreme conditions and loads-they reliably help ensure high stability and a long service life of the track. In addition to conventional partly mechanised tracklaying methods, a new Method has been developed that for the first time enables Y-form sleepers to be laid on an assembly-line basis at a fast rate and with high quality.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 춘계학술대회 논문집
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• pp.1848-1859
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• 2011

A subsidiary-main track for passenger station is a low-speed track section distinct from a through route such as a main track. It is parallel to a through track and connected to it at both ends by switches. Sidetracks allow for fast, high priority trains to pass slower or lower priority trains going the same direction. They are important for efficiency to order and organize the flow of rail traffic. In this paper we first describe the minimum headway between trains using the concept of occupation time in a block section, which depends on block systems, signalling system and safety technology. And then a stepwise approach is presented to select station, which is suitable to install sidetrack for a given train-traffic pattern. This approach is tested with sample example data, which are surveyed from track geometry based on the to-be-constructed line.

• 한국소음진동공학회논문집
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• 제15권1호
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• pp.29-38
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• 2005

The track pull-in behavior analysis in an optical disk drive (ODD) using plane phase and the evaluations for effecting parameters of it are discussed. Track pull-in, track capture procedure to do track following control, is a key factor to increase data transfer rate. First, the relative velocity between the beam spot of an optical pick-up and the target track of an optical disk is analyzed during the track pull-in procedure. In this process, it is showed that the track error signal has nonlinear characteristics which are depending on the time. Second, Runge-Kutta method to solve the nonlinear equation is applied to find the track pull-in behavior, and some optimal parameters to get stable and fast pull-in condition are obtained. Then, the phase plane analysis for track pull-in procedure is presented. Finally, some comments for the simulated results are discussed briefly.