• Journal of the Society of Disaster Information
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• v.2 no.1
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• pp.39-52
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• 2006

In this paper, an analytical and experimental study was performed in order to determine the effects of interaction between vehicle and structure. Results presented in the paper show that analytical method including moving load effect can investigate the trend of structural response due to dynamic interaction between vehicle and structure. The wheel tracking machine fitted with 2-axle test vehicle can demonstrate more accurate dynamic interaction between vehicle and structure than the wheel tracking machine fitted without 2-axle test vehicle.

• Proceedings of the KIEE Conference
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• 1999.07e
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• pp.2314-2316
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• 1999

This study describes the results of aging characteristics of polymer insulators through the tracking wheel test. In order to evaluate the reliability of polymer insulators, 4 polymer insulators which used in the field were selected. Electrical tests such as power frequency voltage test, steep-front impulse voltage test were performed after tracking wheel test. Chemical structure and contact angle were measured for investigating an aging characteristics. Although some changes have occurred on the surface of insulator, there are no critical changes between new and tracking wheel tested insulator.

• International Journal of Highway Engineering
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• v.7 no.2 s.24
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• pp.97-107
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• 2005

Since the purpose of wheel tracking test is to find out relative difference of mixture's rut resistance, the wheel is an important part in the test for obtaining a consistent output. This study is performed to examine efficiency of different wheel material, rubber and steel in wheel tracking test. The rubber was inserted as a ring on the outer face of the steel wheel, and thickness of rubber ring was 15mm and 7.5mm and 0mm (steel wheel without rubber), making the total outer diameter 200mm. The objective of this study was to select reliable wheel material type in wheel tracking test at $60^{\circ}C$ based on variance in output (rut depth and dynamic stability) and correlation with SD (deformation strength). The result of regression analysis of rut depth with Sd showed that $R^2$ values of wheel rubber thickness of 15mm, 7.5mm and 0mm were 0.7, 0.8 and over 0.9, respectively. In a case of steel wheel (0mm), the highest $R^2$ value was 0.9569. Therefore, the wheel without rubber ring was the best in output consistency level and coefficient of determination $(R^2)$ with deformation strength. Therefore, the steel wheel without rubber ring is suggested as the best choice for wheel tracking test of asphalt concrete.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.461-468
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• 2005

This paper proposes a wheel-assembly automation system, which assembles a wheel into a hub of a vehicle hung to a moving hanger in a car manufacturing line. A macro-micro manipulator control strategy is introduced to increase the system bandwidth and tracking accuracy to ensure insertion tolerance. A camera is equipped at the newly designed wheel gripper, which is attached at the center of the end-effector of the macro-micro manipulator and is used to measure position error of the hub of the vehicle in real time. The redundancy problem in the macro-micro manipulator is solved without complicated calculation by assigning proper functions to each part so that the macro part tracks the velocity error while the micro part regulates the fine position error. Experimental results indicate that tracking error satisfies the insertion tolerance of assembly $({\pm}1mm)$, and thus it is verified that the proposed system can be applied to the wheel assembly task on a moving hanger in the manufacturing line.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.21 no.6
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• pp.530-537
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• 2008

This paper describes the results of a study on the tracking performance of outdoor insulating materials based on the rotating wheel dip test(RWDT). And, the influence of surface degradation was evaluated through such as measurement of the flashover voltage after and before tracking test, also aspects of surface degradation using scanning electron microscopy. The time to tracking breakdown of treated filled specimen is longer than untreated filled specimen. And, after the RWDT, the surface of specimen by adding untreated filler appeared heavy erosion. It was found that the addition to surface treated filler, the better tracking resistance. In the RWDT, the breakdown specimen is not affected by the dry flashover voltage, despite the fact that the surface degradation of tracking test has different state on each specimen. This suggests that wet flashover voltage play an important role in evaluating of tracking and erosion on the surface degradation in tracking test. And, the flashover voltage of specimen under wet conditions are greatly affected by the salt concentration and degree of degradation by the RWDT Because of hydrophobicity and degree of degradation by the RWDT, the flashover voltage of treated filled specimen is higher than that of untreated filled specimen. Different types of specimen may have different hydrophobicity and their surface state under contaminated conditions may not be the same.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.250-256
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• 2010

In this paper, an analytical and experimental study is performed in order to determine the effects of interaction between vehicle and bridge superstructure. For this purpose an improved wheel tracking machine and an adequate single span bridge are designed. Results presented in the paper show that wheel tracking machine including moving mass effects can demonstrate more accurate dynamic interaction between vehicle and structure.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.256-264
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• 2018

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

• Polymer(Korea)
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• v.31 no.6
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• pp.538-542
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• 2007

This study is on the performance analysis of modified asphalts which were prepared by mixing the asphalt with polymer modifiers of varying compositions which were synthesized by the emulsion polymerization method. Thermal properties of mired asphalt were investigated by DSC (differential scanning calorimetry), and dispersion of modifiers in asphalt was investigated by the fluorescence microscope. Dynamic stability and permanent deformation velocities of mixed asphalt were investigated by wheel tracking measurements. Modifier 6 showed the best results in both penetration test and wheel tracking measurement among investigated modifiers, which supports MMA(methyl methacrylate) moiety in modifiers plays better contribution for the enhancement of asphalt performance than styrene moiety does.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2000.07a
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• pp.119-122
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• 2000

Recently polymer insulators are being used for outdoor high voltage applications. Polymer insulators for transmission line have significant advantages over porcelain and glass insulators, especially for ultra-high voltage transmission lines. Their advantages are light weight, vandalism resistance and hydrophobicity. Polymer insulators are a relatively new technology, but their expected life is still unknown. Therefore these estimating technique are very important. Their life time is related to weathering and operating condition. Multi-aging test is requested because aging factor is occurred by multi-aging than unique aging. The aging test about polymer insulators have mainly carried out by IEC 61109. This paper presents multi-stress chamber experiments and tracking wheel test to examine the tracking and erosion performance of polymer insulator for transmission. Multi-stress testing is able to demonstrate deficiencies of polymer insulator materials and designs, including the nature of interfaces in insulation design. We have investigated IEC 61109 Annex C (5000h aging test) and CEA tracking wheel test as test methods of artificial accelerated aging. The aging degree of polymer insulator is estimated by leakage current, measurement of hydrophobicity degree, damage conditions of insulator surface, withstand voltage test etc.