• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.3
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• pp.308-313
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• 2006

The extent of impact dispersion is a function of parameters including gun geometry and tolerances, the foe control system, projectile manufacturing tolerances, etc. The study here investigates potential impact point accuracy improvement for a projectile realized by replacing the rigid nose cone wind screen with a passive nose. Toward this end, a nose projectile dynamic model is derived which consists of the standard six degrees of freedom similar to a rigid projectile plus three additional degrees of freedom associated with rotation of the nose with respect to the main projectile body. By Observing the pitch and yaw movement of the nose in the simulation results, it is believed to be possible to reduce the effects of uncertainties which is occurred at firing step.

• Journal of Biomedical Engineering Research
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• v.25 no.6
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• pp.511-517
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• 2004

The existing rehabilitation systems were developed to exercise specific joints only. Therefore rehabilitating the various joints of human, various kinds of devices are need. To overcome these defects, this paper proposed the CMRS, an integrated system that performs various rehabilitation exercises. The characteristics of motion and the positions between human body and the system were investigated with the kinematics analysis of upper and lower limb of human body. We presented a proper mechanism to develop a rehabilitation device on the base of the study and studied the relative positions between head part and human joints. Through the simulations, the possibility of rehabilitation system was verified. And the base frame was also developed for convenient and stable position control. Finally, the CMRS was developed as an 8 degree of freedom mechanism. It is expected that the CMRS will be applied to the rehabilitations of various joints.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.6
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• pp.794-805
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• 1999

Pneumatic cushioning cylinders are commonly employed for vibration and shock control. A mathematical simulation model of a double acting pneumatic cushioning cylinder designed to absorb shock loads is presented which is based on the following assumptions; ideal equation of state isentropic flow through a port conservation of mass polytropic thermodynamics single degree of freedom piston dynamics and energy equivalent linear damping. These differential equation can be solved through numerical integration using the fourth order Runge-Kutta method. An experimental study was conducted to validate the results obtained by the numerical integra-tion technique. Simulated results show good agreement with experimental data. The computer simulation model presented here has been extremely useful not only in understanding the has been extremely useful not only in understanding the basic cushioning but also in evaluating different designs.

• Proceedings of the Korea Water Resources Association Conference
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• 2015.05a
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• pp.254-254
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• 2015

본 연구에서 사용한 부유식방파제는 상치의 공기주입량에 따라 흘수심을 조절할 수 있으며, 부유식방파제 입사면과 투과면에 하부슬릿을 두어 입사파랑의 제어가 가능하도록 고안하였다. 또한, 수리 모형실험에서는 카테너리(catenary) 계류시스템의 계류각 변화에 따른 장력특성을 분석하였다. 일반적으로 계류시스템은 계류점, 계류형상 및 인장정도에 따라 구분된다. 본 연구에서는 부유식방파제의 6자유도 운동 중 2차원운동에 따른 장력특성 분석을 위하여 4점 계류를 채택하였으며, 계류형상은 일정 동요량을 허용하지만 안전성이 높은 카테너리형을 적용하였다. 수리모형실험을 통하여 투수성 부유식방파제의 장력특성을 분석하고, 입사파랑 변화에 따른 계류시스템의 안전성을 분석한 결과, 투수성부유식방파제는 계류각 전 구간에서 무공형부유식방파제에 비하여 최대장력이 낮게 측정되었으며 안전성이 확보되었다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.99-100
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• 2016

드론이나 이동형 촬영장비에 장착된 카메라로부터 깨끗하고 안정된 영상을 획득하기 위해서는 짐벌시스템의 안정화기 설계가 필요하다. 짐벌시스템은 카메라 모듈을 지지하는 구조와 외부로 부터의 진동을 차단하면서 정확한 각도를 추종하는 안정화기로 구성된다. 이동형 촬영장비나, 비행중인 드론에는 매우 다양한 주파수 성분의 진동이 발생되는데, 이러한 진동을 제어하기 위하여 6자유도 운동방정식을 유도하고, 이 중에서 본 논문에서는 일반적으로 rolling, pitching, yawing 운동에 대해서는 PID 제어기를 사용하여 안정화를 제어하기만, 카메라종류나 짐벌시스템 구조가 바뀔 때 마다 PID 파라미터를 변경해야 되는 경우가 빈번하다. 본 논문에서는 이런 문제점을 개선하기 새로이 제기된 제어 기법인 지적 PID(intelligent PID) 제어를 통하여 진동제어를 수행하여 짐벌시스템의 안정화를 위한 제어기법을 제안하고자 한다.

• Journal of the Society of Naval Architects of Korea
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• v.38 no.3
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• pp.47-53
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• 2001

When a ship advancing in waves is subjected to impact forces or irregular forces, the motion analyses for ship are convenient for being calculated in the time domain. The added mass, wave damping coefficients, wave exciting forces and mean drift forces are calculated by 3-Dimensional panel method used the translating pulsating Green function in the frequency domain and the motion equations which are considered by the memory effect due to waves are numerically solved by using the Newmark-$\beta$ method in the time domain. The motion analyses are carried out for a Series 60($C_B=0.7$) moving in irregular waves. The items of calculation are 6-degree motions, accelerations at the fore and after position, numbers of deck wetness and numbers of exposure at ship-bottom, etc. Moreover, the thrust addition in waves is examined by considering the time mean drift forces in the motion equations of time domain.

• Journal of Navigation and Port Research
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• v.45 no.6
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• pp.284-297
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• 2021

A simple kinematic model for the prediction of ship manoeuvres based on trial data is proposed in this study. The model consists of first order differential equations in surge, sway, and yaw directions which simulate the time series of each velocity component. Actually instead of sea trial data, dynamic model simulations are conducted with randomly varied control inputs such as propeller revolution rates and rudder angles. Based on learning of control inputs and velocity outputs of dynamic model simulations in sufficient time, kinematic model coefficients are optimized so that the kinematic model can be approximately reproduce the velocity outputs of dynamic model simulations with arbitrary control inputs. The resultant kinematic model is verified with new dynamic simulation sets.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.6
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• pp.644-652
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• 2013

This paper describes the development and field experiments of Manta-type Unmanned Underwater Vehicle (UUV). Various simulations for Manta UUV are performed by using the nonlinear 6-DOF motion of equations. Through this simulation we verified the motion performances of Manta UUV. To acquire the blueprint of Manta UUV, it was designed with the simulation results. The Manta UUV uses a Doppler Velocity Log (DVL), gyrocompass, GPS, pressure sensor and other minor sensors, applied to measure the motion, position and path of Manta UUV. For its propulsion and changing a direction in the underwater, one vertical fin and four horizontal fins are installed at the hull of UUV. The Manta UUV system was verified with motion and autonomous navigation test at field.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.21-28
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• 2010

This paper describes the mathematical model and controller design for Manta-type Unmanned Underwater Test Vehicle (MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (Planar Motion Mechanism) test. Based on the 6 DOF dynamic equations, numerical simulations have been performed to analyze the dynamic performances of the MUUTV. In addition, using the mathematical model PID and sliding mode controller are constructed for the diving and steering maneuver. Simulation results show that the control performances of the MUUTV and compared with these of NPS (Naval Postgraduate School) AUV II.

• Journal of computational fluids engineering
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• v.20 no.3
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• pp.20-26
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• 2015

This paper introduces a computational method for analysis of the 6-DOF motions of a ship in waves using an overset grid technique which consists of inner and outer domains for representing body motions and numerical wave tank, respectively. High order interpolation scheme is employed to increase numerical accuracy over the interface where physical values, such as velocities and pressure, interact between the inner and outer domains. The numerical schemes and algorithm are addressed in the present paper. An application to motion of KCS container carrier in head waves is presented, and the comparison of responses on heave and pitch motions shows good agreement with those of model tests.