• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1580-1586
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• 2003

This paper presents the design and the analysis of a "fish-like underwater robot". In order to develop swimming robot like a real fish, extensive hydrodynamic analysis were made followed by the study of biology of the fishes especially its maneuverability and propel styles. Swimming mode is achieved by mimicking fish-swimming of carangiform. This is the swimming mode of the fast motion using its tail and peduncle for propulsion. In order to generate configurations of vortices that gives efficient propulsion yawing and surging with a caudal fin has applied and in order to submerge and maintain the body balance pitching and heaving motion with a pair of pectoral fin is used. We have derived the equation of motion of PoTuna by two methods. In first method, we use the equation of motion of underwater vehicle with the potential flow theory for the power of propulsion. In second method, we apply the method of the equation of motion of UVM(Underwater Vehicle-Manipulator). Then, we compare these results.

• Bulletin of the Society of Naval Architects of Korea
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• v.22 no.4
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• pp.1-8
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• 1985

Utilizing the theory of ship motions, the effect of fin stabilizer on the roll motion has been investigated. From the analysis, a general design procedure has been derived for a particular ship in specific operational condition and sea states. Finally, a working example has been given to show how the introduced method could be applied in practical design.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.285-290
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• 2004

Wave exciting force and moment generate the motions of a ship in waves. Since ship motion exerts the negative influences on a crew's operability, the safety of cargos, passenger's comfort, etc, the anti-rolling devices may be required to reduce such motion. In this paper, the dynamics of the anti-rolling devices such as passive and active moving weight stabilizer and anti-rolling tank, and fin stabilizer are mathematically modeled. While the effect of the motion of the anti-rolling device on a ship was taken into consideration in roll mode only in the past, the 6 DOF coupled equations of motion between a ship and the anti-rolling devices are constituted. Finally the motion of a ship with anti-rolling devices in waves is simulated through the developed simulation program.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.4
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• pp.206-216
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• 2013

The present study considers the prediction of wind-induced heel of cruise ship and its stabilization. Wind load in ocean exerts on the surface of superstructure of cruise ship, which causes the heel moment on the ship. The calculation of wind load starts from choosing wind speed profile, so that the logarithmic wind profile model is applied in this study. Heel moment by wind load is calculated by adopting approximate formulation and applied to the ship motion analysis in time domain. Motion stabilizers, such as stabilizing fin and U-tube tank, are considered to reduce the heel effect as well as excessive roll motion. From this study, it is expected that the present method can be applied to the prediction and stabilization of the heel motion of cruise ships.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.429-434
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• 2007

This paper presents an experimental and parametric study of a biomimetic fish robot actuated by the Lightweight Piezo-composite Actuator(LIPCA). The biomimetic aspects in this work are the oscillating tail beat motion and shape of caudal fin. Caudal fins that resemble fins of BCF(Body and Caudal fin) mode fish were made in order to perform parametric study concerning the effect of caudal fin characteristics on thrust production at an operating frequency range. The observed caudal fin characteristics are the shape, area, and aspect ratio. It was found that a high aspect ratio caudal fin contributes to high swimming speed. The fish robot was propelled by artificial caudal fins shaped after thunniform-fish and mackerel caudal fins, which have relatively high aspect ratio, produced swimming speed as high as 2.364 cm/s and 2.519 cm/s, respectively, for 300 Vpp input voltage excited at 0.9 Hz. Thrust performance of the biomimetic fish robot was examined by Strouhal number, Froude number, Reynolds number, and Net forward force.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.197-208
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• 2010

The ostraciiform swimming mode allows the simplest mechanical design and control for underwater vehicle swimming. Propulsion is achieved via the flapping of caudal fin without the body undulatory motion. In this research, the propulsion of underwater vehicles by ostraciiform swimming mode is explored experimentally using an ostraciiform fish robot and some rigid caudal fins. The effects of caudal fin flapping frequency and amplitude on the cruising performance are studied in particular. A theoretical model of propulsion using rigid caudal fin is proposed and identified with the experimental data. An experimental method to obtain the drag coefficient and the added mass of the fish robot is also proposed.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.103-109
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• 2012

Fish generates large thrust through an oscillating motion with a compliant joint of caudal fin. The compliance of caudal fin affects the thrust generated by the fish. Due to the flexibility of the fish, the fish can generate a travelling wave motion which is known to increase the efficiency of the fish. However, a detailed research on the relationship between the flexible joint and the thrust generation is needed. In this paper, the compliant joint of a caudal fin is implemented in the driving mechanism of a robotic fish. By varying the driving frequency and stiffness of the compliant joint, the relationship between the thrust generation and the stiffness of the flexible joint is investigated. In general, as the frequency increases, the thrust increases. When higher driving frequency is applied, higher stiffness of the flexible joint is needed to maximize the thrust. The bending angles between the compliant joint and the caudal fin are compared with the changes of the thrust in one cycle. This result can be used to design the robotic fish which can be operated at the maximum thrust condition using the appropriate stiffness of the compliant joint.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.10
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• pp.1089-1095
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• 2011

Numerical simulation is performed for nucleate boiling on a micro-finned surface, which has been widely used to enhance heat transfer, by solving the equations governing the conservation of mass, momentum, and energy in the liquid and vapor phases. The bubble motion is determined by a sharp-interface level-set method, which is modified to include the effect of phase change and to treat the no-slip and contact-angle conditions, as well as the evaporative heat flux from the liquid microlayer on immersed solid surfaces such as micro fins and cavities. The numerical results for bubble formation, growth, and departure on a microstructured surface including fins and cavities show that the bubble behavior during nucleate boiling is significantly influenced by the fin-cavity arrangement and the fin-fin spacing.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.3
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• pp.283-292
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• 2009

Considering an integral equation governing the motion of unfolding fin, an algebraic equation was acquired to get estimated minimum deployment energy required for the successful fin unfolding under the given wind condition. To complete the integration of moment, some approximations had to be introduced particularly to frictional moment and aerodynamic damping for which deployment angular speed of the unfolding fin was modelled as a function of deployment angle only with assumed profile using expected maximum angular speed. Technique for the estimation of the minimum required deployment energy was finalized by introducing the ideal deployment angular speed representing work done by the fin unfolding device alone during fin unfolding and was confirmed by comparing results from simulation with various aerodynamic conditions and profiles of the hinge torque.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.7
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• pp.877-884
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• 2001

A theoretical analysis is conducted on the Stokes flow in a narrow channel. A vertical fin is mounted on the bottom plate and the flow is induced by uniformly sliding top plate. The governing harmonic equation was solved in the transformed ζ-plane, which is obtained by applying conformal mappings to the physical plane. By using well-known transformation technique, closed-form expressions for velocity and skin frictional stress on the top and bottom plates were obtained.