• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.385-392
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• 2018

This paper presents 2D numerical modeling to calculate ship-ice interactions that occur when an icebreaker advances into ice-covered water. The numerical model calculates repeated icebreaking of an ice plate and removal of small ice floes. The icebreaking of the ice plate is calculated using a ship-ice contact detection technique and fluid-structural interaction of ice plate bending behavior. The ship-ice interactions in small ice floes are calculated using a physically based modeling with 3DOF rigid body equations. The ice plate is broken in crushing, bending, and splitting mode. The ice floes drift by wind or current and by the force induced by the ship-ice interaction. The time history of ice force and ice floe distribution when an icebreaker advances into the ice-covered water are obtained numerically. Numerical results demonstrate that the time history of ice force and distribution of ice floes (ice channel width) depend on the ice floe size, ship motion and ice drifting by wind or current. It is shown that the numerical model of ship maneuvering in realistic ice conditions is necessary to obtain precise information about the ship in ice-covered water. The proposed numerical model can be useful to provide data of a ship operating in ice-covered water.

• Journal of Power System Engineering
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• v.13 no.6
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• pp.43-50
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• 2009

If an internal combustion engine is operated by consolidated control, the minimum fuel consumption is achieved satisfying the demanded objectives. For this, it is necessary that the engine is operated on the ideal operating line which satisfies minimum fuel consumption. In this context of view, there are many tries to achieve given object. However, the parameter in the internal combustion engines are variable and depend on the operating points. Therefore, it is necessary to cope with the uncertainties such that the optimal operating may be possible. From this point of view, this paper gives a controller design method and a robust stability condition for engine torque control which satisfies the given control performance and robust stability in the presence of physical parameter perturbation. Exactly, the present paper considers a robust stability of this 2DOF servosystem with nonlinear type uncertainty in the engine system, and a robust stability condition for the servosystem is introduced. This result guarantees that if the plant uncertainty is in the permissible set defined by the given condition then a gain tuning can be carried out to suppress the influence of the plant uncertainties.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.2
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• pp.152-161
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• 2013

This paper presents a control effectiveness analysis of the hawkmoth Manduca sexta. A multibody dynamic model of the insect that considers the time-varying inertia of two flapping wings is established, based on measurement data from the real hawkmoth. A six-degree-of-freedom (6-DOF) multibody flight dynamics simulation environment is used to analyze the effectiveness of the control variables defined in a wing kinematics function. The aerodynamics from complex wing flapping motions is estimated by a blade element approach, including translational and rotational force coefficients derived from relevant experimental studies. Control characteristics of flight dynamics with respect to the changes of three angular degrees of freedom (stroke positional, feathering, and deviation angle) of the wing kinematics are investigated. Results show that the symmetric (asymmetric) wing kinematics change of each wing only affects the longitudinal (lateral) flight forces and moments, which implies that the longitudinal and lateral flight controls are decoupled. However, there are coupling effects within each plane of motion. In the longitudinal plane, pitch and forward/backward motion controls are coupled; in the lateral plane, roll and side-translation motion controls are coupled.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.1
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• pp.64-71
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• 2012

In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion, in case of being the link vertical between two parallel guides.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.2
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• pp.414-430
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• 1996

In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.194-205
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• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• Smart Structures and Systems
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• v.6 no.2
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• pp.115-133
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• 2010

A modal filter is a tool used to extract the modal coordinates of each individual mode from a system's output. This is achieved by mapping the response vector from the physical space to the modal space. It decomposes the system's responses into modal coordinates, and thus, on the output of the filter, the frequency response with only one peak corresponding to the natural frequency to which the filter was tuned can be obtained. As was shown in the paper (Deraemecker and Preumont 2006), structural modification (e.g. a drop in stiffness or mass due to damage) causes the appearance of spurious peaks on the output of the modal filter. A modal filter is, therefore, a great indicator of damage detection, with such advantages as low computational effort due to data reduction, ease of automation and lack of sensitivity to environmental changes. This paper presents the application of modal filters for the detection of stiffness changes. Two experiments were conducted: the first one using the simulation data obtained from the numerical 7DOF model, and the second one on the experimental data from a laboratory stand in 4 states of damage.

• Journal of Microbiology and Biotechnology
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• v.25 no.6
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• pp.887-892
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• 2015

Uricase is an important microbial enzyme that can be used in the clinical treatment of gout, hyperuricemia, and tumor lysis syndrome. A total of 127 clinical isolates of Pseudomonas aeruginosa were tested for uricase production. A Pseudomonas strain named Ps43 showed the highest level of native uricase enzyme expression. The open reading frame of the uricase enzyme was amplified from Ps43 and cloned into the expression vector pRSET-B. Uricase was expressed using E. coli BL21 (DE3). The ORF was sequenced and assigned GenBank Accession No. KJ718888. The nucleotide sequence analysis was identical to the coding sequence of uricase gene puuDof P. aeruginosa PAO1. We report the successful expression of P. aeruginosa uricase in Escherichia coli. E. coli showed an induced protein with a molecular mass of about 58 kDa that was confirmed by sodium dodecyl sulfate-polyacrylamide gel electrophoresis and Western blotting. We also established efficient protein purification using the Ni-Sepharose column with activity of the purified enzyme of 2.16 IU and a 2-fold increase in the specific activity of the pure enzyme compared with the crude enzyme.

• Journal of the Korean Society of Propulsion Engineers
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• v.21 no.2
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• pp.60-71
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• 2017

A trajectory analysis program is developed using a 3DOF trajectory model for the performance analysis of geostationary launch vehicles by system options. Launch trajectory and the performance of injection at GTO was estimated using this program for several propellant options, engine types, number of engines and the location of launch site. Results of the analysis presents that the possibility of mission accomplishment by several design options using domestic launch sites and the development direction of GEO launch vehicles.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.505-519
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• 2005

In this paper, we develop an anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The simulation and experimental results show that the proposed control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller. As the results in this paper, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications.