• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2017.04a
• /
• pp.20-20
• /
• 2017

궤도형 차량의 이동구조는 에너지 소비 측면에서 단점이 있지만 접지압의 감소로 인한 평지 및 야지험지에서도 원활한 주행이 가능한 장점으로 인해 농업분야의 플랫폼에서 많이 사용된다. 곡식을 베는 일과 탈곡하는 일을 한 번에 하는 콤바인도 이러한 무한궤도형 이동구조를 사용한다. 또한 궤도형 차량의 방향전환 및 주행속도 변환은 좌 우 궤도의 회전 속도를 다르게 하여 동시에 제어하기 때문에 정교한 주행 성능을 위해서는 궤도형 차량의 기구학 모델을 고려한 경로 계획이 필요하다. 본 연구에서는 직교형 포장에서 Round harvesting 기법 기반으로 궤도형 차량의 기구학 모델 및 포장정보를 고려한 자율주행 콤바인 경로계획 알고리즘을 개발하고자 하였다. 이를 위해 Labview 기반의 궤도형 차량 시뮬레이션을 구축하여 실제 포장정보를 이용해 생성 된 경로의 적용 가능성을 구명하고자 하였다. 자율주행 콤바인 경로 계획은 콤바인의 길이, 너비, 회전 시 좌 우 궤도의 속도 비, 직진 속도와 회전 속도 비, 회전 각도, 포장의 외부 경계선, 작업 겹침 량, 회경 횟수를 이용하여 좌현 새머리 선회를 포함한 내부 왕복작업 경로를 생성하며 외부 회경 횟수는 2~3회를 가정하였다. 자율주행 시뮬레이션은 차체와 궤도 자체의 미끄러짐과 작동기 지연시간을 단순화 한 궤도형 기구학 모델형태로 구성하였다. 추종 알고리즘은 선견 거리법을 사용하였으며, 측면 변이값과 방향 오차의 선형조합을 이용하여 조향변수를 정의하고 퍼지로직기반으로 좌 우 궤도 속도를 7 단계화하여 조향장치를 모델링하였다. 실험결과 개발 된 경로생성 알고리즘은 실제 취득 된 포장 외부 경계 GPS 위 경도를 이용해 자동으로 생성이 가능하며 간략화 된 콤바인 시뮬레이션에서 직진주행 RMS 위치 오차는 0.05 m, 선회구간에서 직진 구간 진입 시 RMS 위치 오차는 0.11 m, 직진 구간 RMSE 방향 오차는 3.2 deg로 콤바인 예취부 간격인 30 cm보다 작은 위치 오차를 보이며 생성된 경로 전체 추종이 가능함을 나타내었다.

• Journal of the Korean Society for Railway
• /
• v.13 no.5
• /
• pp.521-527
• /
• 2010

The Paved Track is applied to reduce maintenance cost of conventional line. The Paved Track could be used in all types of lines including earthwork, bridge, tunnel and turnout sections. In case of earthwork section, the construction joint is the most critical factor to track durability. The construction joint does not affect to the track structure directly, but the gap due to discontinuity of slabs may affect to the long-term serviceability. To evaluate this problem, the accelerated track test has been performed on the construction joint and the middle part to of the real scale Paved Track. The purpose of this test is that evaluate the vulnerability of construction joint section comparing the trends of settlement and earth pressure under repeated loads of construction joint with those of the middle slab part.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.28 no.3D
• /
• pp.399-405
• /
• 2008

Development of the paved track is required as a low-maintenance of conventional line. The paved tracks are one of the types of the ballast reinforced tracks those are manufactured by adopting the prepacked concrete technique. The main elements of this tracks are large sleeper, low elastic pad, fastener, cement mortar, geotextile and recycled ballast. Low elastic pad is the most effective element of such tracks on the basis of stress-displacement characteristics, dynamic response and fatigue characteristics. The stiffness of the pad determine the stiffness of the track. Consequently, it is more important in case of concrete track structure such as paved track because application of low elastic pad seriously effect the durability and stability of the track. The main objective of this study is to confirm the reduction of train load, which transfer to roadbed through various pad effects. To achieve this task static, numerical analysis and real scale repeated loading test was performed while load reduction effect of low elastic pad was analyzed by using displacement, stress and strain ratio characteristics of the paved track.

• Journal of the Korean Society for Railway
• /
• v.13 no.1
• /
• pp.78-83
• /
• 2010

On the paved track, the ballast is used as aggregate for the filling layer using the pre-packed concrete technique. The most important condition of aggregate is adhesive strength with mortar. To satisfy this condition, surface of aggregate should be cleaned by water or others. In a paved-track method to be introduced domestically, an environment-friendly dry-washing technology which will replace the water-washing method has been developed. A dry-washing method was designed to blast the crushed weight material with a diameter of 0.3~0.5mm at high pressure to peel the surface of the aggregate. The study was intended to enhance the washing efficiency of dry-blasting technology and to that end, the tests including blasting material, content of fine aggregate depending on time elapsed, content of chloride, LA abrasion rate and compressive strength were conducted to recommend the efficient washing material and the process.

• Journal of the Korean Society for Railway
• /
• v.12 no.4
• /
• pp.481-487
• /
• 2009

On the paved track, the railway ballast is used as aggregate for the filling layer using the pre-packed concrete method. The condition of ballast as the paved track aggregate ensure that the compressive strength, particle distribution size for the pouring and surface clearance to increase the adhesive strength with mortar. It is profitable to recycle the existing railway ballast as a economical supply. In order to increase recycling characteristic, it is necessary to apply the similar criterion which does not exceed the conventional railway ballast criterion. Consequently, this paper was to investigate physical characteristics of existing ballast, particle size distribution, compressive and flexural strength, bearing capacity and filling capacity to prepare the aggregate's recycling. As a result, optimized aggregate criterion is suggested.

• The monthly packaging world
• /
• s.33
• /
• pp.123-123
• /
• 1996

• Journal of the Korean Society for Railway
• /
• v.19 no.2
• /
• pp.224-233
• /
• 2016

Embedded Railway Systems (ERS) will be adapted for wireless trams and will be constructed along city roadways. An asphalt layer should be overlaid on top of the concrete slab used as the trackbed structure in order to ensure smoothness and surface levels equal to those of existing road pavement in downtown city areas. However, the characteristics of an asphalt layer when used as overlay pavement for an ERS are complicated and the behavior of this material is not yet well defined and understood. Therefore, in this study, laboratory shear and tensile bond strength tests were conducted to investigate the bonding behavior of an asphalt layer in a multilayered trackbed section of an ERS. For the laboratory tests, a waterproof coating material was selected as a bonding material between the asphalt overlay and a concrete specimen. Valuable design parameters could be obtained based on the tensile and shear bond strength test results, providing information about the serviceability and durability of the overlaid pavements to be constructed alongside the ERS for wireless trams. In addition, a deformation analysis to assess the tensile strain generated due to truck axle loads at the interface between the asphalt layer and the concrete slab was conducted to verify the stability and performance of the asphalt layer.

• Proceedings of the KSR Conference
• /
• 2004.06a
• /
• pp.1026-1032
• /
• 2004

The objective of this study is to confirm the field application of coarse aggregates technology mixtured with high strength mortar under the rail. In the present study, the field tests are performed to find the field state and aggregate gradations and the laboratory tests are performed to find the compressive strength of the pre packed concrete cylinder specimens and the core specimens obtained at the field.

• Journal of the Korean Geosynthetics Society
• /
• v.9 no.3
• /
• pp.1-8
• /
• 2010

The track systems installed in Korea railway consist of two types on ballasted track or ballastless track. In this study, it was compared with difference of the behaviors at roadbed with cyclic loading through full scale model test. From the results of model tests, loading distribution ratio of the concrete slab track become more widely distributed than ballasted track, and loading distribution ratio at concrete track was about 30:20:15. The concrete slab track is likely to behavior of the rigid plate, while ballasted track is such as flexible pavement. The vertical stresses of upper roadbed with traffic cyclic loading in concrete track were measured about 30 kPa or less. It was a scene very similar to the results of the field train running test. The vertical stress at concrete track was occurred approximately 4 times smaller than ballasted track. Also, the soil velocities with cyclic loading at the slab track were occurred about 0.3 cm/sec or less, its 8 times smaller than ballasted track.

• Proceedings of the KSR Conference
• /
• 2006.05b
• /
• pp.432-437
• /
• 2006