• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.42-52
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• 2006

In order to utilize hydrodynamic drag force on articulated robots moving in an underwater environment, an optimum motion planning procedure is proposed. The drag force acting on cylindrical underwater arms is modeled and a directional drag measure is defined as a quantitative measure of reaction force in a specific direction in a workspace. A repetitive trajectory planning method is formulated from the general point-to-point trajectory planning method. In order to globally optimize the parameters of repetitive trajectories under inequality constraints, a 2-level optimization scheme is proposed, which adopts the genetic algorithm (GA) as the 1st level optimization and sequential quadratic programming (SQP) as the 2nd level optimization. To verify the validity of the proposed method, optimization examples of periodic motion planning with the simple two-link planner robot are also presented in this paper.

• 한국지반환경공학회 논문집
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• 제24권1호
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• pp.51-60
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• 2023

수직 시추와 다르게 방향성 시추작업에서 발생하는 드릴스트링(drill string) 변형, 케이싱(casing) 마모, 키 씨팅(key seating) 등의 문제를 방지하기 위해서는 시추 궤도 내에서 발생하는 토크(torque)와 드래그(drag)가 최소화되어야 한다. 토크와 드래그의 크기는 시추 궤도 형태, 이수(mud), 드릴스트링의 종류 그리고 킥오프 지점(KOP, kick-off point)과 같은 매개변수들에 의해 결정되기 때문에 시추 궤도 설계 과정에서 고려하여 설계하여야 한다. 본 연구에서는 가장 일반적인 방향성 시추 궤도인 빌드-홀드(Build-hold) 형태의 시추 궤도에 킥오프 지점이 각기 다른 시추 궤도를 선정하였고, 분포하중 모델(analytical friction model)을 이용하여 각 구간내에서의 분포하중을 계산하여 궤도 전체에 대한 토크와 드래그를 계산하였다. 또한 매개변수에 따른 분석 값을 비교하여 분포하중이 최소로 발생하는 최적의 시추 궤도를 선정하였다. 분석결과 분포 하중을 최소화하기 위해서는 윤활성이 높은 이수를 사용, 궤도 형태에 따른 알맞은 킥오프 지점과 가능한 최소의 도그-래그를 지정하여 설계하는 것이 효과적임을 알 수 있었다. 이러한 결과는 분포하중을 최소화하기 위한 모든 방향성 시추 궤도 설계에 사용된다.

• 한국항공우주학회지
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• 제47권6호
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• pp.422-428
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• 2019

수직미익이 없는 전익기 형상은 낮은 레이더반사면적(RCS) 특성으로 인해 최근 UCAV를 위한 대표적인 형상으로 대두되고 있다. 무미익 전익기 형상은 방향축 관점에서 보면 정적으로 불안정하면서도 이를 효과적으로 제어하기 위한 수직 조종면이 없다는 두 가지 난제를 모두 갖고 있다. 이같은 형상을 제어하기 위해서는 추력 벡터링을 적용하거나 날개의 항력차이를 이용하는 드래그 러더(Drag Rudder) 형태의 에일러론 또는 스포일러 등을 적용할 수 있다. 본 논문에서는 전익기 형상의 횡방향축 공력특성 및 드래그 러더 중 스포일러 형태의 조종면에 대한 공력특성을 설명한다. 또한, PI 구조의 제어설계 기법을 사용하여 전익기의 횡방향축 운동을 효과적으로 제어할 수 있음을 제시하고, 비행시험을 통하여 설계된 제어기로 안정적인 비행이 가능함을 보였다.

• International Journal of Aeronautical and Space Sciences
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• 제16권2호
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• pp.311-324
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• 2015

This study presents computational analyses for low-drag aerodynamic design that are applied to modify a long-endurance UAV. EAV-2 is a test-bed for a hybrid electric power system (fuel cell and solar cell) that was developed by the Korean Aerospace Research Institute (KARI) for use in future long-endurance UAVs. The computational investigation focuses on designing a wing with a reduced drag since this is the main contributor of the aerodynamic drag. The airfoil and wing aspect ratio of the least drag are defined, the fuselage configuration is modified, and raked wingtips are implemented to further reduce the profile and induced drag of EAV-2. The results indicate that the total drag was reduced by 54% relative to EAV-1, which was a small-sized version that was previously developed. In addition, static stabilities can be achieved in the longitudinal and lateral-directional by this low-drag configuration. A long-endurance flight test of 22 hours proves that the low-drag design for EAV-2 is effective and that the average power consumption is lower than the objective cruise powerof 200 Watts.

• 한국해안해양공학회지
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• 제5권1호
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• pp.25-38
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• 1993

해양구조물의 케이블 반응 분석을 위한 다방향 파람 스펙트라의 수치모델이 조사되었다. 여러 형태의 전파모델을 파랑으로 인한 물입자의 흐름과 계류시스템을 예측하기 위해 사용하였다. 케이블에 작용하는 수동역학적 파력은 케이블의 경사에 평행한 방향과 접선방향에서의 항력과 관성력을 고려한 Morison 공식에 의해 평가되었다. 변위와 속도, 궤적, 위상면의 반응, 그리고 장력을 고려한 다방향 불규칙 파랑의 수치해석에 의하여 부체의 tether pc와 anchor point에서 계류시스템 케이블의 반응을 나타내었다. 서로 다른 항력 계수와 다양한 유의 파고, 그리고 선택된 파랑계수들이 이 분석에 고려되었다. 예제에서 고려된 특정 시스템을 통하여 파랑의 전파함수계수와 항력계수 뿐만 아니라 파랑의 주기와 높이가 케이블-부체시스템의 동적반응에 중요한 영향을 미침을 알 수 있었다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2008년 영문 학술대회
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• pp.456-459
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• 2008

The purpose of this paper is to examine the aerodynamic characteristics of three hypersonic configurations including pure liftbody configuration, pure waverider configuration and liftbody integrated with waverider configuration. Hypersonic forbodies were designed based on these configurations. For the purpose to integrate with ramjet or scramjet, all the forebodies were designed integrated with hypersonic inlet. To better understand the forebody performance, three dimensional flow field calculation of these hypersonic forebodies integrated with hypersonic inlet were conducted in the design and off design conditions. The computational results show that waverider offer an aerodynamic performance advantage in the terms of higher lift-drag ratios over the other two configurations. Liftbody offer good aerodynamic performance in subsonic region. The aerodynamic performance of the liftbody integrated with waverider configuration is not comparable to that of pure waverider in the terms of lift-drag ratios and is not comparable to that of pure liftbody in subsonic. But the liftbody integrated with waverider configuration exhibit good lateral-directional and longitudinal-directional stability characteristics. Both pure waverider and liftbody integrated with waverider configuration can provide relatively uniform flow for the inlet and offer good aerodynamic characteristics in the terms of recovery coefficient of total pressure and uniformity coefficient.

• 대한기계학회논문집B
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• 제29권6호
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• pp.755-762
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• 2005

To evaluate the aerodynamic efficiency of TR-S2 configuration designed by SUDC, wind tunnel tests of $40\%$ scaled model were done in KARI LSWT. The aerodynamic characteristics of plain and Semi-Slotted Flaperon were compared, and vortex generators were installed to improve flow pattern along the wing surface. Effects of the control surface such as elevator, rudder, aileron, and incidence angle of horizontal tail are measured for various testing conditions. Test results showed that Semi-Slotted Flaperon produced more favorable lift, lift/drag, and stall margins and application of vortex generator would be best choice to enhance wing performance. Longitudinal, lateral and directional characteristics of TR-S2 were found to be stable for the pitch and yaw motions.

• 대한기계학회논문집B
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• 제29권1호
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• pp.35-45
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• 2005

TR-E2 configuration designed by Bell Textron was tested in KARI 1-m wind tunnel. To explore aerodynamic characteristics for the given configuration, a $12\%$ scaled model was fabricated and tested. Wind tunnel test for TR-E2 had been performed by changing the incidence angles of wing and deflection angles of control surfaces. Test result showed that the lower wing incidence angle has more favorable lift to drag ratio compared with original design. Longitudinal and directional characteristics of TR-E2 were found to be stable for the pitch and yaw motions. However, the lateral stability of TR-E2 is not stable for certain control surface deflection.

• 대한기계학회논문집A
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• 제30권9호
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• pp.1025-1033
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• 2006

This paper describes the levitation mechanism using magnetic wheel for a maglev planar transportation system. Rotation of the magnetic wheel where the permanent magnet array is embedded produces the time varying traveling magnetic flux density and the generated magnetic flux density creates the induced levitation force and drag force with the conductor. Because the net drag force is zero, magnetic wheel can only generate the levitation force. Thus, it always guarantees the stability in levitation direction and it does not disturb other directional motion. In this paper, levitation principle of the magnetic wheel is analyzed using distributed field approach and dynamic characteristics of the levitation in the magnetic wheel system are estimated. The feasibility of the proposed levitation mechanism is verified through the several experimental works.

• Wind and Structures
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• 제35권2호
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• pp.93-108
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• 2022

Steel tubular towers are commonly used in UHV and long crossing transmission lines. By considering effects of the model scale, the solidity ratio and the ratio of the mean width to the mean height, wind tunnel tests under different wind speeds on twenty tubular steel tower body models and twenty-six tubular steel cross-arm models were completed. Drag coefficients and shielding factors of the experimental tower body models and cross-arm models in wind directional axis for typical skewed angles were obtained. The influence of the lift forces on the skewed wind load factors of tubular steel tower bodies was evaluated. The skewed wind load factors, the wind load distribution factors in transversal and longitudinal direction were calculated for the tubular tower body models and cross-arm models, respectively. Fitting expressions for the skewed wind load factors of tubular steel bodies and cross-arms were determined through nonlinear fitting analysis. Parameters for skewed wind loads determined by wind tunnel tests were compared with the regulations in applicable standards. Suggestions on the drag coefficients, the skewed wind load factors and the wind load distribution factors were proposed for tubular steel transmission towers.