• Ocean Systems Engineering
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• v.3 no.4
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• pp.257-273
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• 2013

Top tensioned riser (TTR) is often used in a floating oil/gas production system deployed in deep water for oil/gas transport. This study focuses on the extension of the existing numerical code, known as CABLE3D, to allow for static and dynamic simulation of a TTR connected to a floating structure through a tensioner system or buoyancy can, and restrained by riser guides at different elevations. A tensioner system usually consists of three to six cylindrical tensioners. Although the stiffness of individual tensioner is assumed to be linear, the resultant stiffness of a tensioner system may be nonlinear. The vertical friction between a TTR and the hull at its riser guide is neglected assuming rollers are installed there. Near the water surface, a TTR is forced to move horizontally due to the motion of the upper deck of a floating structure as well as related riser guides. The extended CABLE3D is then integrated into a numerical code, known as COUPLE, for the simulation of the dynamic interaction among the hull of a floating structure, such as spar or TLP, its mooring system and riser system under the impact of wind, current and waves. To demonstrate the application of the extended CABLE3D and its integration with COUPLE, the numerical simulation is made for a truss spar under the impact of Hurricane "Ike". The mooring system of the spar consists of nine mooring lines and the riser system consists of six TTRs and two steel catenary risers (SCRs).

• Earthquakes and Structures
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• v.15 no.5
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• pp.513-528
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• 2018

A typical viable technique to decrease the seismic response of liquid storage tanks is to isolate them at the base. Base-isolation systems are an efficient and feasible solution to reduce the vulnerability of structures in high seismic risk zones. Nevertheless, when liquid storage tanks are under long-period shaking, the base-isolation systems could have different impacts. These kinds of earthquakes can damage the tanks readily. Hence, the seismic behaviour and vibration of cylindrical liquid storage tanks, subjected to earthquakes, is of paramount importance, and it is investigated in this paper. The Finite Element Method is used to evaluate seismic response in addition to the reduction of excessive liquid sloshing in the tank when subjected to the long-period ground motion. The non-linear stress-strain behaviour pertaining to polymers and rubbers is implemented while non-linear contact elements are employed to describe the 3-D surface-to-surface contact. Therefore, Nonlinear Procedures are used to investigate the fluid-structure interactions (FSI) between liquid and the tank wall while there is incompressible liquid. Part I, examines the effect of the flexibility of the isolation system and the tank aspect ratio (height to radius) on the tank wall radial displacements of the tank wall and the liquid sloshing heights. Maximum stress and base shear force for various aspect ratios and different base-isolators, which are subjected to three seismic conditions, will be discussed in Part II. It is shown that the composite-base isolator is much more effective than other isolators due to its high flexibility and strength combined. Moreover, the base isolators may decrease the maximum level pertaining to radial displacement.

• Earthquakes and Structures
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• v.12 no.1
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• pp.1-12
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• 2017

Historical earthquakes have shown that successive seismic events may occur in regions of high seismicity. Such a sequence of earthquakes has the potential to increase the damage level of the structures, since any rehabilitation between the successive ground motions is practically impossible due to lack of time. Few studies about this issue can be found in literature, most of which focused their attention on the seismic response of SDOF systems or planar frame structures. The aim of the present study is to examine the impact of seismic sequences on the damage level of 3D multistorey R/C buildings with various structural systems. For the purposes of the above investigation a comprehensive assessment is conducted using three double-symmetric and three asymmetric in plan medium-rise R/C buildings, which are designed on the basis of the current seismic codes. The buildings are analyzed by nonlinear time response analysis using 80 bidirectional seismic sequences. In order to account for the variable orientation of the seismic motion, the two horizontal accelerograms of each earthquake record are applied along horizontal orthogonal axes forming 12 different angles with the structural axes. The assessment of the results revealed that successive ground motions can lead to significant increase of the structural damage compared to the damage caused by the corresponding single seismic events. Furthermore, the incident angle can radically alter the successive earthquake phenomenon depending on the special characteristics of the structure, the number of the sequential earthquakes, as well as the distance of the record from the fault.

• Magazine of the Korean Society of Agricultural Engineers
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• v.38 no.5
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• pp.74-84
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• 1996

Dynamic loading of structures often causes excursions of stresses well into the inelastic range and the influence of geometric changes on the dynamic response is also significant in many cases. Therefore, both material and geometric nonlinearity effects should be considered in case that a dynamic load acts on the structure. For developing a program to analyze the dynamic response of an axisymmetric shell in this study, the material nonlinearity effect on the dynamic response was formulated by the elasto-viscoplastic model highly corresponding to the real behavior of the material. Also, the geometrically nonlinear behavior is taken into account using a total Lagrangian coordinate system, and the equilibrium equation of motion was numerically solved by a central difference scheme. A complete finite element program has been developed and the results obtained by it are compared with those in the references 1 and 2. The results are in good agreement with each other. As a case study of its application, the developed program was applied to a dynamic response analysis of a nuclear reinforced concrete containment structure. The results obtained from the' numerical examples are summarized as follows : 1. The dynamic magnification factor of the displacement and the stress were unrelated with the concrete strength. 2. As shown by the results that the displacement dynamic magnification factor were form 1.7 to 2.3 and the stress dynamic magnification factor from 1.8 to 2.5, the dynamic magnification factor of stress were larger than that of displacement. 3. The dynamic magnification factor of stress on the exterior surface was larger than that on the interior surface of the structure.

• Journal of Advanced Navigation Technology
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• v.20 no.3
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• pp.175-181
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• 2016

This paper introduces a heave compensation system for offshore crane when it gets unexpected disturbances and external force. The dynamic model consists of crane assumed to be the rigid body, hydraulic driven winch, elastic rope and payload. To keep the payload from moving up and down, PD control algorithm is applied. By using the control, the oscillating amplitude of the payload is reduced. Also by using the estimated values involved with time-delay, the relative motion of payload in heave direction is dramatically shortened. This paper shows using the control algorithm with estimated value having time-delay 0.1 second is enough to heave compensation system.

• The Transactions of the Korean Institute of Power Electronics
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• v.3 no.3
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• pp.165-172
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• 1998

The electromechanical energy conversion conditioning and processing implementation in USM direct motion control system is generally divided into two power stages: the two-phase high-frequency ac power inversion stage for driving piezoelectric ceramic PZT transducer array off the USM stator and the mechanical thrust power conversion stage based on the frictional force between the piezo electric stator array and the rotary slider of the USM. However, the dynamic and steady-state mathematical modeling of the USM is extremely default from a theoretical point of view because it contains many complicated an nonlinear characteristics dependant on operation temperature. In +2$0^{\circ}C$~3$0^{\circ}C$, the operating characteristics of the USM has represented normal condition. But the other temperature, it has abnormal condition so that driving frequency, current and motor speed will be down. The recent USM has controller without temperature compensation. This study represents the fuzzy controller for speed compensation according to operating temperature by driving frequency.

• Journal of the Earthquake Engineering Society of Korea
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• v.3 no.3
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• pp.75-86
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• 1999

An analysis model is developed to evaluate the dynamic responses of a bridge system under seismic excitations, in which pounding actions between girders are considered in addition to other phenomena such as nonlinear pier motion, rotational and translational motions of foundations. The model also considers the abutment and restrainers connecting adjacent girders to prevent the unseating failures. Using the developed model, the longitudinal dynamic behaviors of a bridge system are examined for various peak ground accelerations, and the effects of the applied restrainers are investigated. It is found that the restrainers reduce the relative displacement with the shorter clearance length as well as the higher stiffness of the restrainers for moderate excitations. However, in the region with strong excitations the restrainers may yield due to the large relative displacement. Therefore, the extension of support length in addition to restrainers may need to prevent the unseating failure more effectively.

• Journal of Navigation and Port Research
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• v.29 no.8 s.104
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• pp.747-753
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• 2005

In this paper, as an anti-sway control strategy of container cranes, we investigate a variable structure control in which the moving load follows a given trajectory, whereas both the trolley and hoist controllers achieve their positioning problems. It is crucial, in an automated container terminal, that collisions should be avoided during the transference of containers from one place to another. It is also necessary, in the case of a quay crane, to select suitable loading and unloading trajectories of containers, so that possible collisions with surrounding obstacles are avoided. After a brief introduction of the mathematical model, a robust control scheme (i.e., a second-order sliding mode control that guarantees a fast and precise transference and a suppression of the resulted swing) is presented. Despite model uncertainties and unmodeled actuators dynamics, the swing suppression from the given trajectory is obtained by constraining the system motion on suitable sliding surfaces, which include both the desired path and the swing angle. The proposed controller has been tested with a laboratory-size pilot crane. Experimental results are provided.

• 전자공학회논문지 IE
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• v.46 no.3
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• pp.33-41
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• 2009

Because the stability of obstacle avoidance ability is important for the safe operation of mobile robots, this paper deals with the analysis of dynamic stability of Limit-cycle navigation method that was proposed by authors. Limit-cycle navigation method is fast and easy to implement for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. The stability of Limit-cycle navigation method is analyzed with a linear model. To demonstrate the effectiveness and applicability, it is applied to the robot soccer Simulations and real experiments ascertain the merits of the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.9
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• pp.711-723
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• 2017

This paper proposes a flight control system for an organic flight array(OFA) which has a new configuration to consist of multi modularized ducted-fan unmanned aerial vehicles (UAVs). The OFA is able to apply to various missions such as indoor reconnaissance, communication relay, and radar jamming by using capability of hover flight. The OFA has a distinguished advantage due to reconfigurable structure to assemble or separate with respect to its missions or operational conditions. A dynamic modelling of the OFA is derived based on equations of motion of the single ducted-fan modules. In order to apply nonlinear control method, an affine system of attitude dynamics is derived. Moreover, the control system is composed of a back-stepping controller for attitude control and a PID controller for position control. Then the performance of the proposed controller is verified via a numerical simulation under wind disturbance.