• The Journal of Korea Robotics Society
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• 제6권3호
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• pp.274-283
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• 2011

A simplified linearized dynamic equation for the propulsion force generation of an Ostraciiform fish robot with elastically jointed double caudal fins is derived in this paper. The caudal fin is divided into two segments and connected using an elastic joint. The second part of the caudal fin is actuated passively via the elastic joint connection by the actuation of the first part of it. It is demonstrated that the derived equation can be utilized for the design of effective caudal fins because the equation is given as an explicit form with several physical parameters. A simple Ostraciiform fish robot was designed and fabricated using a microprocessor, a servo motor, and acrylic plastics. Through the experiment with the fish robot, it is demonstrated that the propulsion force generated in the experiment matches well with the proposed equation, and the propulsion speed can be greatly improved using the elastically jointed double fins, improving the average speed more than 80%. Through numerical simulation and frequency domain analysis of the derived dynamic equations, it is concluded that the main reason of the performance improvement is resonance between two parts of the caudal fins.

• Journal of the Society of Naval Architects of Korea
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• 제43권1호
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• pp.22-31
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• 2006

Recent studies have shown that the short time solution of the equation of motion for the rolling of ships is important in deciding the possibility of capsize of ships due to the excessive heel. Since most of known solutions for nonlinear equations of motion are long time or steady periodic solutions, here a simple way is described to get the short time solutions of the Duffing equation, which was chosen for deriving a criterion for the capsize of the ship. With the small external rolling moment, we first assume the state of the small damping and near resonance. Then, for cases when the frequency of the external moment is higher than the resonant one, an inequality was derived as a criterion for the capsize. This gives the range of the initial condition and the magnitude of the external moment which should be avoided for a ship to be safe from capsize. Furthermore, from the linearized equation, it is also shown that a simple and self-explanatory solution can be obtained consistent with that for the case of no damping, which yields the well-known linear growth with time.

• Structural Engineering and Mechanics
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• 제66권5호
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• pp.583-594
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• 2018

A theoretical formulation based on the linearized potential theory, the Descartes' rule and the extremum optimization method is presented to calculate the critical distance of lifting points of the fully balanced hoist vertical ship lift, and to study pitching stability of the ship lift. The overturning torque of the ship chamber is proposed based on the Housner theory. A seven-free-degree dynamic model of the ship lift based on the Lagrange equation of the second kind is then established, including the ship chamber, the wire rope, the gravity counterweights and the liquid in the ship chamber. Subsequently, an eigenvalue equation is obtained with the coefficient matrix of the dynamic equations, and a key coefficient is analyzed by innovative use of the minimum optimization method for a stability criterion. Also, an extensive influence of the structural parameters contains the gravity counterweight wire rope stiffness, synchronous shaft stiffness, lifting height and hoists radius on the critical distance of lifting points is numerically analyzed. With the Runge-Kutta method, the four primary dynamical responses of the ship lift are investigated to demonstrate the accuracy/reliability of the result from the theoretical formulation. It is revealed that the critical distance of lifting points decreases with increasing the synchronous shaft stiffness, while increases with rising the other three structural parameters. Moreover, the theoretical formulation is more applicable than the previous criterions to design the layout of the fully balanced hoist vertical ship lift for the ensuring of the stability.

• Journal of the Institute of Electronics Engineers of Korea TC
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• 제37권3호
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• pp.28-34
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• 2000

In this paper, we derive a spectral function and a new impedance profile of non-uniform tapered transmission lines by applying the Fourier transform to a linearized Riccati equation. We compensate the error which is from a linearized Riccati equation by adding a Taylor series to the impedance profile. Added terms remove discontinuities In the impedance profile at both ends of the non-uniform section. We show that a calculated spectrum approaches to a target spectrum of filter by an iterative method and numerical examples are given to illustrate the role of the phase function. As the design method which is shown in present paper provides a excellent adaptability for the design of non-uniform tapered transmission lines, the present method can be applied to design filters and impedance matching circuits with various passband characteristics.

• Coupled systems mechanics
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• 제13권3호
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• pp.247-275
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• 2024

The paper studies the influence of the fluid flow velocity and flow direction in the initial state on the dispersion of the axisymmetric waves propagating in the inhomogeneously pre-stressed hollow cylinder containing this fluid. The corresponding eigenvalue problem is formulated within the scope of the three-dimensional linearized theory of elastic waves in bodies with initial stresses, and with linearized Euler equations for the inviscid compressible fluid. The discrete-analytical solution method is employed, and analytical expressions of the sought values are derived from the solution to the corresponding field equations by employing the discrete-analytical method. The dispersion equation is obtained using these expressions and boundary and related compatibility conditions. Numerical results related to the action of the fluid flow velocity and flow direction on the influence of the inhomogeneous initial stresses on the dispersion curves in the zeroth and first modes are presented and discussed. As a result of the analyses of the numerical results, it is established how the fluid flow velocity and flow direction act on the magnitude of the influence of the initial inhomogeneous stresses on the wave propagation velocity in the cylinder containing the fluid.

• Journal of Korean Society of Coastal and Ocean Engineers
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• 제4권2호
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• pp.108-120
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• 1992

An ADI model for linearized shallow water equation is modified using the method of factorization. In order to show its validity. the computational results are compared both with the analytical solution and with those from existing models, for a rectangualr domain with constant and varying amplitudes at the open boundary. It is shown the accuracy of numerical solutions depends on the size of time step. depth and bottom friction. The modified ADI model is shown to be superior to the existing models such as Leendertse (1971). Butler (1980) and Sheng (1983).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.969-974
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• 2004

For a maneuvering unmanned autonomous helicopter, it is necessary to design a proper controller of each flight mode. In this paper, overall helicopter dynamics is derived and hovering model is linearized and transformed into a state equation form. However, since it is difficult to obtain parameters of stability derivatives in the state equation directly, a linear control model is derived by time-domain parametric system identification method with real flight data of the model helicopter. Then, two different controllers - a linear feedback controller with proportional gains and a robust controller - are designed and their performance is compared. Both proposed controllers show outstanding results by computer simulation. These validated controllers can be used to autonomous flight controller of a real unmanned model helicopter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.417-420
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• 2004

Recently, the applications of unmanned system are steadily increasing. Unmanned automatic system is suitable for routine mission such as reconnaissance, environment monitoring, resource conservation and investigation. Especially, for the ocean environment monitoring mission, many ocean engineers had scoped with the routine and even risky works. The automatic system can replace the periodic and routine missions: water sampling, temperature and salinity measuring, etc. In this paper, an unmanned surface vessel was designed for routine and periodic ocean environmental missions. An autonomous control system was designed and tested for the unmanned vessel. A GPS and gyro compass was used for navigation. A linear autopilot model for course control can be derived from the maneuvering model. Nomoto's 2nd-order response equation was derived. The design methodologies and performance of the surface vessel were illustrated and verified with this linearized equation of motion. A linear controller was designed and automatic route tracking performance was verified for yaw subsystem.

• Bulletin of the Korean Chemical Society
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• 제29권6호
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• pp.1131-1136
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• 2008

The electrical repulsive energy between two model cylinders was calculated by solving nonlinear Poission- Boltzmann (P-B) equation under Derjaguin approximation. Effects of the surface potential, Debye screening length, and configuration of cylinders on the repulsive interaction energy were examined. Due to the anisotropy of the shape of cylinder, the interaction repulsive energy showed dependence to the configuration of particles; cylinders aligned in end-to-end configuration showed largest repulsive energy and crossed particles had lowest interaction energy. The configuration effect is originated from the curvature effect of the interacting surfaces. The curved surfaces showed less repulsive energy than flat surfaces at the same interacting surface area. The configuration dependency of interaction energy agreed with the previous analytical solution obtained under the linearized P-B equation. The approach and results present in this report would be applicable in predicting colloidal behavior of cylindrical particles.

• Transactions of the Korean Society of Mechanical Engineers B
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• 제28권10호
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• pp.1271-1278
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• 2004

In order to measure non-intrusively velocity profile in liquid metal flow, a modified electromagnetic flowmeter was designed, which was based on electromagnetic tomography technique. Under the assumption that flow is fully-developed, axisymmetric and rectilinear, the velocity profile was reconstructed after the flowmeter equation, the first kind of Fredholm integration equation, was linearized. In reconstruction process Tikhonov regularization method with regularization parameter was used. The reconstructed velocity profile had the nearly same as turbulent flow profile which was approximately represented as log law. In addition, flowmeter output fur a fixed magnet rotation angle was linearly proportional to flow rate. When magnet rotation angle was 54$^{\circ}$, axisymmetric weight function was nearly uniform so that the flowmeter gives a constant signal for any fully-developed, axisymmetric and rectilinear profile with a constant flow rate.