• International Journal of Ocean System Engineering
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• 제1권4호
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• pp.222-229
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• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• Wind and Structures
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• 제34권1호
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• pp.137-149
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• 2022

In this paper, the fluctuating lift and drag forces on 5:1 rectangular cylinders with two different geometric scales in three turbulent flow-fields are investigated. The study is particularly focused on understanding the influence of the ratio of turbulence integral length scale to structure characteristic dimension (the length scale ratio). The results show that both fluctuating lift and drag forces are influenced by the length scale ratio. For the model with the larger length scale ratio, the corresponding fluctuating force coefficient is larger, while the spanwise correlation is weaker. However, the degree of influence of the length scale ratio on the two fluctuating forces are different. Compared to the fluctuating drag, the fluctuating lift is more sensitive to the variation of the length scale ratio. It is also found through spectral analysis that for the fluctuating lift, the change of length scale ratio mainly leads to the variation in the low frequency part of the loading, while the fluctuating drag generally follows the quasi-steady theory in the low frequency, and the slope of the drag spectrum at high frequencies changes with the length scale ratio. Then based on the experimental data, two empirical formulas considering the influence of length scale ratio are proposed for determining the lift and drag aerodynamic admittances of a 5:1 rectangular cylinder. Furthermore, a simple relationship is established to correlate the turbulence parameter with the fluctuating force coefficient, which could be used to predict the fluctuating force on a 5:1 rectangular cylinder under different parameter conditions.

• 한국산학기술학회논문지
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• 제15권6호
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• pp.3950-3960
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• 2014

본 연구에서는 수치모의를 통해서 월류 흐름이 존재하는 수몰 사각 실린더의 항력 특성에 대하여 분석하였다. 모의의 신뢰성을 검토하기 위하여 실험자료와 비교하였으며 실험에서 측정하기 어려운 실린더 접촉면의 압력에 대한 분석을 통해서 상대 수심에 따른 항력의 특성을 분석하였다. 3차원 동수역학 모형을 이용한 수몰 사각 실린더의 항력 계산 결과는 실험자료의 상대 수심의 변화에 따른 항력계수의 변화를 유사하게 모의하고 있음을 확인할 수 있었다. 수치모의 결과 분석에 의하면 수몰 사각 실린더에 작용하는 항력은 대부분 압력이며 상대 수심이 증가함에 따라 전단력의 비중은 감소하였다. 실린더 접촉면의 압력계수 분석 결과에 의하면 상대 수심이 낮은 경우에는 전면부에 높은 압력계수가 형성되고 후면부에 낮은 압력계수가 형성되어 결과적으로 높은 항력계수가 나타남을 확인하였다. 상대수심이 증가하면 전면부의 압력계수는 감소하고 후면부의 압력계수는 증가하여 2차원 흐름 내의 사각 실린더와 유사한 양상을 나타낸다. 정수압 영향 분석에 의하면 전면부와 후면부의 수위 차에 의한 정수압은 항력에 미치는 영향이 제한적이며 사각 실린더에 의해 형성되는 국부적인 수위와 함께 3차원적인 흐름에 의해 형성되는 동수압의 영향이 크다는 것을 확인하였다.

• 한국항행학회논문지
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• 제20권2호
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• pp.134-140
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• 2016

본 연구는 항력을 고려한 탄도미사일의 비행궤적 특성에 대한 해석이다. 탄도미사일은 대부분 대기권 밖에서 초고속으로 비행하고 RCS가 작기 때문에 요격이 어렵다. 특히 부스트 및 종말단계에서는 급격한 항력의 변화에 따라 속도의 변화가 매우 커진다. 따라서 성공적인 탄도미사일 방어체계를 구축하기 위해서는 탄도미사일의 비행궤적 해석 시 항력 특성을 반드시 고려해야 한다. 이러한 관점에서 본 연구는 항력에 대한 특성을 분석하고, 이를 고려하여 스커드 B, C 및 노동미사일의 비행궤적 특성을 도출하였다. 탄도미사일의 비행궤적 모델은 지구 자전에 의한 코리올리힘과 원심력을 반영하였으며, 탄도미사일의 제원은 공개된 자료를 활용하였다.

• Tribology and Lubricants
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• 제11권1호
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• pp.20-26
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• 1995

Most magnetic bearings are based on the attractive force between the magnets and ferrous materials. One of the disadvantages of such attractive type magnetic bearings is the instability so that an active control device is necessary to operate bearing successfully. In this study a repulsive type magnetic bearing is analyzed which uses eddy current as a force source. The load capacities are analyzed for the various gap sizes, the rotor velocities and the frequencies of current supplied to electromagnet. Analytic Results show that as the gap size decreases, the levitation and drag forces increase, while the number of poles increasqs, the drag force decreases in the higher linear velocity region. Experimental results show that as the gap size decreases the levitation and the drag force increase, and as the velocity of rotor increases, the drag is larger than the levitation force up to certain velocity. But after that, the levitation is larger than the drag force. As the frequency of the current increases the levitation and drag decreases while the thickness of rotor gets thicker the forces decrease because of increase in eddy current loss.

• Wind and Structures
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• 제27권5호
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• pp.293-309
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• 2018

The prediction of multimode flutter relies, to a larger extent than bimodal flutter, on accurate modeling of the self-excited forces since it is challenging to perform experimental validation by using aeroelastic tests for a multimode case. This paper sheds some light on the accuracy of predicted self-excited forces by comparing numerical predictions of self-excited forces with measured forces from wind tunnel tests considering the flutter vibration mode. The critical velocity and the corresponding flutter vibration mode of the Hardanger Bridge are first determined using the classical multimode approach. Then, a section model of the bridge is forced to undergo a motion corresponding to the flutter vibration mode at selected points along the bridge, during which the forces that act upon it are measured. The measured self-excited forces are compared with numerical predictions to assess the uncertainty involved in the modeling. The self-excited lift and pitching moment are captured in an excellent manner by the aerodynamic derivatives. The self-excited drag force is, on the other hand, not well represented since second-order effects dominate. However, the self-excited drag force is very small for the cross-section considered, making its influence on the critical velocity marginal. The self-excited drag force can, however, be of higher importance for other cross-sections.

• 한국전산유체공학회지
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• 제14권3호
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• pp.9-15
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• 2009

Numerical investigation has been carried out for laminar flow past an inclined square cylinder in cross freestream. In particular, inclination of a square cylinder with respect to the main flow direction can cause sudden shift of the separation points to other edges, resulting in drastic change of flow-induced forces on the cylinder such as Strouhal number (St) of vortex shedding, drag and lift forces on the cylinder, depending upon the inclination angle. Collecting all the numerical results obtained, we propose contour diagrams of drag/lift coefficients and Strouhal number on an Re-Angle plane. This study would be the first step towards understanding flow-induced forces on cylindrical structures under a strong gust of wind from the viewpoint of wind hazards.

• Wind and Structures
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• 제20권2호
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• pp.237-247
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• 2015

Wind tunnel experiments are used to investigate the aerodynamic interactions between vehicles and wind barriers on a railway bridge. Wind barriers with four different heights (1.72 m, 2.05 m, 2.5 m and 2.95 m, full-scale) and three different porosities (0%, 30% and 40%) are studied to yield the aerodynamic coefficients of the vehicle and the wind barriers. The effects of the wind barriers on the aerodynamic coefficients of the vehicle are analyzed as well as the effects of the vehicle on the aerodynamic coefficients of the wind barriers. Finally, the relationship between the drag forces on the wind barriers and the aerodynamic coefficients of the vehicle are discussed. The results show that the wind barriers can significantly reduce the drag coefficients of the vehicle, but that porous wind barriers increase the lift forces on the vehicle. The windward vehicle will significantly reduce the drag coefficients of the porous wind barriers, but the windward and leeward vehicle will increase the drag coefficients of the solid wind barrier. The overturning moment coefficient is a linear function of the drag forces on the wind barriers if the full-scale height of the wind barriers $h{\leq}2.5m$ and the overturning moment coefficients $C_O{\geq}0$.

• 대한기계학회논문집B
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• 제20권1호
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• pp.369-376
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• 1996

Variations of the drag and lift forces of a circular cylinder in a planar turbulent jet were experimentally investigated. The force was directly measured using the load cell and estimated by integrating the pressure distribution on the cylinder. As the cylinder moves outward from the center of the jet, the direction of lift force changes and the drag force decreases. Reynolds number, the ratio of cylinder's diameter to half width of jet had effect on maximum drag coefficient and the location where the direction of lift changes.

• 한국해양공학회지
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• 제10권1호
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• pp.75-80
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• 1996

The importance of the impact force on the vertical offshore circular structure member in the surf zone due to the breaking wave has been recognized recently. In this paper characteristics of breaking wave forces and the corresponding estimation procedures for them are investigated. For the characterization of the wave forces, three parts, drag force, inertia force, impact force are categorized and identified, respectively. Among them the impact force is maimly studied and the concise form of the force is proposed with the application scheme for the design of offshore circular structure member. The resulting form porposed here for impact force is well coincided with former research results by other people. Except the impact force, so called Morison equation can be employed for the common offshore structure design. The drag force and inertia force are represented as convertionally for the profile except the breaking part. In the numerical example, for thpical sea condition and the member size, the proposed procedures for the breaking wave forces calculation are demonstrated. It is found that the impact force is the most deminant one comparing with inertia and drag forces in the surf zone.