• Journal of Ocean Engineering and Technology
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• v.29 no.6
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• pp.436-444
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• 2015

A submerged body is sensitive to changes in the roll moment because of the small restoring moment and moment of inertia. Thus, a method for predicting the roll-related hydrodynamic coefficients is important. This paper describes a deduction method for the hydrodynamic coefficients based on the results of a coning motion test. A resistance test, static drift test, and coning motion test were performed to obtain the coefficients in the towing tank of Seoul National University. The sum of the hydrodynamic force, inertial force, gravity, and buoyancy was measured in the coning motion test. The hydrodynamic force was deduced by subtracting the inertial force, gravity, and buoyancy from the measured force. The hydrodynamic coefficients were deduced using the regression method.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.16 no.1
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• pp.95-104
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• 2003

This paper deals with the analytic and FEM analyses of sloshing frequency response of incompressible, invicid and irrotational flow in two dimensional rectangular tank. We use Laplace equation based on potential theory as governing equation. For small amplitude sloshing motion, the linearized free surface condition was applied and the analytic solution as obtained by the separation of variables. To simulate the effect of the energy dissipation due to viscous damping, artificial viscous coefficient is introduced and the divergence of response at resonance frequencies may be avoided by this coefficient. This problem was solved by FEM using 9-node elements in order to predict the maximum amplitude of sloshing response. Numerical results of free surface height, fluid pressure and fluid force show good agreement with those by analytic solution. After verifying the test FEM program, we analyze the frequency response characteristics of sloshing to the fluid height.

• Journal of the Korea Convergence Society
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• v.3 no.4
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• pp.35-44
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• 2012

In this study, a simulation program is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation program using the MATLAB/SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.

• Journal of the Korea Convergence Society
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• v.11 no.5
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• pp.175-182
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• 2020

The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.181-186
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• 2006

In this paper, generation mechanisms of ocean freak waves are briefly introduced in the context of wave-current interaction phenomena. The present model of the fluid motion is based on the Navier-Stokes equations incorporating velocity-pressure formulation because of need to model the nonlinear wave interaction with spatially non-uniform current field. In order to deal with the free surface motion, an Arbitrary Lagrangian-Eulerian (ALE) description is adopted. As an accurate and efficient numerical tool, the spectral element method is presented with general features and specific treatment for the wave-current interaction problem. As an intermediate stage of development, solution procedure and characteristics aspects of the present modeling and numerical method are addressed in detail, and preliminary numerical results prove its accuracy and convergence.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.30 no.1
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• pp.29-38
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• 2018

In order to evaluate the performance of the floating wave power, which is an axisymmetric oscillating water column type, linearized free surface boundary condition considering the influence of PTO (power takeoff) was derived and a finite element numerical model was established. Numerical experiments were carried out by varying cylinder length, skirt length, and depth of water, which are design parameters that can change the resonance of water column in cylinder and heave resonance of the float, which is considered to affect the power generation efficiency. Finally, the basic data necessary for the optimum design of the power generation system were obtained. As a result, the efficiency of the power generation system is dominated by the heave motion resonance of the float rather than the water column resonance in the cylinder, and the resonance condition for the heave motion can be changed efficiently by attaching the skirt to the outside of the buoy.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.2
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• pp.139-146
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• 2009

In this study, an assessment is made for the helicopter vibration reduction of composite rotor blades using an active twist control concept. The piezoceramic shear actuation mechanism along with elastic couplings of composite blades is used for vibration reduction. The rotor blades are modeled as composite box-beams with actuator layers bonded on the outer surfaces of the thin-walled section. The governing equations of motion for helicopter blades are obtained using Hamilton's principle. A time domain unsteady aerodynamic theory with free wake model is used to obtain the airloads. Various rotor configurations with different elastic couplings with appropriate actuator placement are used to investigate the hub vibration characteristics. Numerical results show that a substantial reduction of $N_b$/rev hub vibration can be achieved using the optimal control algorithm.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.627-630
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• 2009

The combination of the marine use various multi sensor surveillance system technology with the development of servo motion control algorithm and gyro sensor in six freedom motion is implemented to analyze the movement response. The stabilization of the motion control is developed and Nano driving Precision Pan-Tilt/Gimbal system is obtained from the security positioning cameras with ultra high speed device is used to carry out the exact behavior of the device. The exact behavior will be used to make a essential equipment. Finally the development of the Nano Driving Multi Sensor, Nano of Surveillance System Driving Precision Pan-Tilt/Gimbal optimal design and production, 3-aix Gyro Sensor based with Servo Motion Control algorithm development, Image trace video software and hardware tracking the development is organized and discuss in details. The development of the equipment and the system integration are fully experimented and verified.

• Journal of the Society of Naval Architects of Korea
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• v.31 no.4
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• pp.73-81
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• 1994

The source and source/dipole distribution methods using 3-dimensional panel method have been widely used for ship motion analysis. When these methods are used, large errors in the predicted hydrodynamic coefficients are introduced around the irregular frequencies caused by the resonance of imaginary internal flow. Therefore, the irregular frequencies need to be removed for an accurate prediction of ship motion. This paper adopts 3-dimensional translating and oscillating Green function derived by Wu. The adaptive integration method, stretching transform and stationary phase method are used for the calculation of the calculation of Green function and the integral equation is derived by distributing the Green function n ship surface and inner free-surface. The condition of zero normal velocity, that is, wall condition on inner free-surface has been successfully used for the removal of irregular frequencies in oscillating problems. The calculations are carried out for series 60($C_B=0.7$) vessel and the results are compared with those of other theoretical analyses and experiment.

• Journal of Wetlands Research
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• v.21 no.3
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• pp.207-214
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• 2019

This study investigated the flow characteristics in an annular flume with a free water surface using the Acoustic Doppler Velocimeter(ADV) in the laboratory. The flow was driven by the rotation of the inner cylinder in a way designed not to interfere with flocculation of cohesive sediments. The effect of the inner cylinder for the longitudinal velocities showed highest near the moving boundary and decreased towards the outer wall. At the lower longitudinal velocity, there was a peak in turbulent kinetic energy near the bed, whereas it moved upward to with increasing of the velocity. The longitudinal velocities estimated using the power law were in good agreement with the measured values than the values predicted by the log-law with roughness lengths. The average friction velocities evaluated by Reynolds shear stress were smaller than the values calculated using the log-law and power law when increasing the longitudinal velocity.