• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2000.05a
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• pp.82-85
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• 2000

Polymeric composite insulators are used for outdoor insulation. However, our knowledge about their long-term performance in an outdoor environment is still very limited. The electrical stress caused the surface of these insulators to become degradation. In order to evaluate the tracking resistance of polymer insulators, we performed the tracking wheel test which is recommended by CEA LWIWG-01. And the flashover voltage tests were conducted for understanding electrical characteristics after tacking wheel test. Also, these insulators are studied by characterization methods such as contact angle measurement, SEM, etc.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.169-175
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• 2002

A sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is performed for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.124-132
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• 2022

With growth in intelligence of mobile robots, interaction with humans is emerging as a very important issue for mobile robots and the pedestrian tracking technique following the designated person is adopted in many cases in a way that interacts with humans. Among the existing multi-object tracking techniques for pedestrian tracking, Simple Online and Realtime Tracking (SORT) is suitable for small mobile robots that require real-time processing while having limited computational performance. However, SORT fails to reflect changes in object detection values caused by the movement of the mobile robot, resulting in poor tracking performance. In order to solve this performance degradation, this paper proposes a more stable pedestrian tracking algorithm by correcting object tracking errors caused by robot movement in real time using wheel odometry information of a mobile robot and dynamically managing the survival period of the tracker that tracks the object. In addition, the experimental results show that the proposed methodology using data collected from actual mobile robots maintains real-time and has improved tracking accuracy with resistance to the movement of the mobile robot.

• 한국도로학회:학술대회논문집
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• 2004.10a
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• pp.103-110
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• 2004

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.92.1-92
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• 2001

Sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is taken for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.33 no.2
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• pp.135-140
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• 2020

An experimental study was conducted using the tracking wheel test (IEC 62217) method for evaluating the performance of insulator materials, in particular ethylene propylene diene monomer (EPDM) and silicone rubber. In addition, we studied the tracking characteristics resulting from applying the same method for the shape of the insulator housing, that is, the performance of regular and alternating sheds. The evaluation parameters were leakage current, surface characteristics, SEM, EDX, hydrophobicity, and temperature distribution; likewise, we applied the commercial frequency dry (and wet) flashover voltage test. We found that the regular shed had a greater leakage current than the alternating shed and that the recovery of the hydrophobicity in terms of rest time was greater than that of the EPDM in terms of leakage current. All of the regular-shed insulators of silicone rubber had tracking traces and choking on the sheath parting line, while the alternating shed showed only choking at the interface but no tracking traces. Therefore, it can be concluded that the commercial frequency wet flashover voltage of the silicone rubber with regular shed before and after the tracking wheel test is higher than that of the alternating shed.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.4
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• pp.141-148
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• 2008

In this paper, we develop a detailed full dynamic model which includes various rough terrains for 6-wheel skid-steering mobile robot based on the real experimental autonomous vehicle called Dog-Horse Robot. We also design a co-simulation for performance comparison of path tracking algorithms. The control architecture in the co-simulation can be divided into two levels. The high level control is the closed-loop control of path tracking to follow a given path, and the low level is concerned about torque control of wheel motion. The simulation using the mechanical data of the Dog-Horse Robot is performed under the Matlab/Simulink environment. We also simulate and evaluate the performance of the model based adaptive controller.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.4
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• pp.189-195
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• 2003

The steel wheels are widely used in the passenger cars because of their low cost of production although the aluminum wheels have many advantages in their performance and appearance. It is known that the steering wheel vibration with steel wheels is generated more often than one with aluminum wheels. Both the constant velocity driving test and the m up test are carried out in this study to analyze the causes and path of the steering wheel vibration generated from the steel wheels. And this study shows that the steering wheel vibration is affected by the fastening torque of the wheel mounting bolts between the steel wheel and the suspension disk.

• Journal of the Korean Geosynthetics Society
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• v.17 no.1
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• pp.75-83
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• 2018

This paper described a results of dynamic stability by using wheel tracking test and unconfined compression test, in order to evaluate behavior characteristics on the developed pocketable expansion material for emergency restoration of ground cavity. The wheel tracking test result showed that the settlement increment ratio of the recovered ground by the expansion material was decreased compared to the sandy ground in high load condition. That is, it was confirmed that the expansion material was able to restrain the settlement due to the material stiffness, and the same results were obtained for the dynamic stability evaluation results. From the results of unconfined compression test, the pocketable expansion material was found to be able to fully support load on the restored cavity.

• International Journal of Highway Engineering
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• v.6 no.3 s.21
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• pp.37-46
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• 2004

This study was performed to establish valid methodology for determining dynamic stability(DS) of deformation-cycle curve which is obtained through wheel tracking(WT) test, the most widely used method for forecast of rutting tendency of asphalt mixture. Existing Korean and Japanese methods for DS are unrealistic and do not really reflect characteristics of rut resistance of asphalt concretes especially when the slope of deformation-cycle curve is stabilized at the end. It was proved that the new DS developed in this study reflected rut resistance characteristics better than existing methods. It is especially effective to distinguish the mixtures with high DR(depth of rut) but stable slope at the end of curve from the mixture with lower DR and continuous slope. The field evaluation must be followed to prove whether the mixture which shows a high DS value this method perform well in the filed.