• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.20-27
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• 2001

A variable configuration tracked vehicle(VCTV) is developed to reduce turning energy and improve climbing ability for stairs. This mechanism has four track T-type frames. By changing the driving direction, each track T-type frame rotates to minimize the contact area with ground. It also has better performance than other VCTV in energy consumption of turning. Futhermore this mechanism is more stable than other VCTV on the rough terrain. When climbing stairs, each track T-type frame rotates to obtain a front attack angle and keep stability on steep stairs. The design parameters of components of track T-type frames are optimized to enhance the performance of climbing stairs. Performance indices include a stable angle, a climbing ability, a height of the vertical obstacle. In case that the overall length of the mechanism is 0.2m, it is required that the radius of the wheels should be 5mm and the length track contacted with he ground should be 0.09m to climb higher and steeper stairs.

• Journal of Power Electronics
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• v.8 no.3
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• pp.268-274
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• 2008

This paper presents a proposed position controller for a vector controlled induction motor. The position controller design depends on the rotational motion equations and a classical speed controller (CSC) performance. The CSC is designed to have the ability to track variable reference inputs and to provide a predefined system performance. Standard position controller in industry is presented to analyze its performance and its drawbacks. Then the proposed position controller is designed, based on the well defined rotational motion equations. The proposed position controller and the CSC are applied to control the position and speed of the vector controlled induction motor with different ratings. Simulation results at different operating conditions are presented to evaluate the proposed controllers' performance. The results show that the CSC can drive the motor with a predefined speed performance and can track a variable reference speed with an approximately zero steady state error. The results also show that the proposed position controller has the ability to effect high-precision positioning in a limited time and to track a variable reference position with a zero steady state error.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.391-395
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• 2010

In our paper, we propose an asymmetric single-tracked wheel system, and describe its structure and the method for maintaining the length of a transformable track system. And the method is reducing the gap of lengths. Therefore, we propose an efficient structure for transforming and explain motions with kinematics. Our transformable shape single-tracked mobile system has an advantage to overcome an obstacle or stairs by the variable arms in the single unity track system. But we will make the variable shape of tracked system get a drive that has a force to stand against a wall. In this case, we can consider this system to a rigid body and have a notice that this single tracked system is able to get vary shape with the variable arm angle. Considering forces balance along x-axis and y-axis, and moments balance around the center of the mass we have. If this rigid body is standing against a wall and doesn't put in motion, the force of flat ground and the rigid body sets an equal by a friction. In the same way, the force of a wall and the rigid sets an equal by a friction.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.155-158
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• 2013

In this paper, a study has been conducted on designing messages which provide minimization of the size by converting Air Track message which is Fixed Message Format, Link-16 Standard, to Variable Message Format (VMF) and assessing the Message Conversion Reliability in order to maximize message transmit efficiency during transmitting many track information.

• Proceedings of the KSR Conference
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• 2002.05a
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• pp.256-263
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• 2002

This paper deal with optimal design of reinforced track as a track reinforcing method for transition area of track support stiffness in transition area between bridge and earthwork. When vehicle passes through transition area, dynamic properties between vehicle and track are studied by the analysis of vehicle-train interaction for the each case when reinforced tracks are used or not. furthermore, optimum decision of type and length of track are made based on the performance adapting variable parameters : support stiffness of track for bridge and earthwork, heading direction of vehicle and type and length of track.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1029-1037
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• 2008

As for track maintenance, Seoul Metro executes track bed improvement project from obsolete ballast track bed to concrete track bed in order to achieve maintenance free and to extend its LCC(Life Cycle Costing). When it comes to obsolete ballast track bed withdrawal task, now it is done solely relying on man power and ballast inhalation vehicle. In this paper, I suggested ballast cleaning system with lighter equipment to change manpower withdrawal tasks to mechanized ones. It is expected to improve work efficiency and economic benefits by applying track excavator having variable wheels and container etc, which is able to keep on the site.

• Journal of the Korean Society for Railway
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• v.8 no.3
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• pp.235-243
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• 2005

Following the rail reform in 2004, rail industry in Korea has separated into two parts: one is the infrastructure manager and the other is train operator. Amongst many aspects, track access charging system is one of the imminent aspects to be studied closely to make the rail reform successful. In this study, track access charging systems of European countries are closely investigated and compared one another and lessons learnt from their experiences are derived. Finally, policy directions regarding the track access charging system to be adopted in Korea are suggested.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1222-1229
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• 2007

In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.198-202
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• 2009

Urban Search and Rescue (USAR) involves locating, rescuing (extricating), and medically stabilizing victims trapped in confined spaces. In this paper we state the current approach to USAR, address the limitations and discuss the way for moving in rugged topography. To achieve objectives such as surveillance, reconnaissance, and rescue, it is necessary to develop a driving mechanism that can handle rugged geographical features. We propose a new type of driving mechanism for a rescue robot that has a variable shape single-track. By using a variety shapes, it can get the gain of steering and rotating and the ability to overcome stairs. In this paper, we analyzed the design parameters for making variable transform shapes and determined the specifications of the robot to enhance adaptability to stairs.

• Communications for Statistical Applications and Methods
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• v.22 no.3
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• pp.241-253
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• 2015

In this paper we predict the track of typhoons using a Bayesian principal component regression model based on wind field data. Data is obtained at each time point and we applied the Bayesian principal component regression model to conduct the track prediction based on the time point. Based on regression model, we applied to variable selection prior and two kinds of prior distribution; normal and Laplace distribution. We show prediction results based on Bayesian Model Averaging (BMA) estimator and Median Probability Model (MPM) estimator. We analysis 8 typhoons in 2006 using data obtained from previous 6 years (2000-2005). We compare our prediction results with a moving-nest typhoon model (MTM) proposed by the Korea Meteorological Administration. We posit that is possible to predict the track of a typhoon accurately using only a statistical model and without a dynamical model.