• International Journal of Control, Automation, and Systems
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• v.4 no.1
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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.

• Journal of the Korean GEO-environmental Society
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• v.24 no.1
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• pp.51-60
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• 2023

Unlike the vertical drilling in the directional drilling should be minimized torque and drag in the well trajectory that avoided problems such as drillstring transformation, casing wear and key-seating. These torque and drag magnitude is determined by variations such as the well trajectory geometry, drilling mud, drillstring type and kick-off point. Therefore, it is essential to consider these variations for designing directional well trajectory. In this study, it was selected well trajectory by the most common build-hold type well and calculated torque and drag on each section by Analytical friction model. Analysis indicates that torque and drag could be minimized by using high lubricity drilling mud, kick-off point appropriate according to the well geometry and possible minimize dogleg severity. The results of this study is useful to minimize torque and drag from directional well trajectory design.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.6
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• pp.422-428
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• 2019

A tailless or Blended-Wing-Body(BWB) shaped configuration is highlighted for UCAV with low RCS characteristics. The BWB configuration is characterized by its directional static instability and low controllability. To control the directional movement of the BWB configured vehicle, directional thrust vectoring equipment or drag rudder typed control surfaces which utilize the drag differences of the wing can be considered. This paper deals with a BWB shaped configuration using a spoiler and describes the lateral-directional aerodynamic characteristics of the vehicle. In addition, it is shwon that the lateral-directional motion can be controlled effectively by using the classical PI control structure. This control law is verified by flight test and showed adequate for the tailless BWB shaped UAV.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.2
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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.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.5 no.1
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• pp.25-38
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• 1993

Numerical models of directional wave spectra for the analysis of offshore structural cable responses are verified. Alternative spreading models are used to predict wave-induced flows in water and for mooring systems. Hydrodynamic wave forces upon cable are estimated. using a Morison formula encompassing considerations for drag and for inertial forces both parallel and tangential to the slope of the cable. Numerical analysis for directional random waves. including consideration of displacement and velocity, trajectory, phase plane response. and tension are shown for mooring system cable responses at both the tether point for a buoy and at the anchor point. The effects of wave forces far different drag coefficients, various significant wave heights, and selected wave parameters are considered in the analysis. For the specific systems considered in the examples, it is demonstrated that wave period and height as well as wave spreading function parameters and drag coefficients, have an important effect upon the dynamic responses of the cable-buoy systems.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.03a
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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.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.6 s.237
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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.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.1 s.232
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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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.9 s.252
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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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• v.35 no.2
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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.