• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.203-211
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• 2006

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supporting their body and help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduciton of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

• Journal of the Society of Naval Architects of Korea
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• v.44 no.4
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• pp.379-388
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• 2007

Ever increasing fuel prices and environmental concerns are forcing commercial vessel operators and designers to re-assess current vessel designs with an emphasis on their propulsion systems. The most important parameter determining propulsive efficiency is the diameter of propeller. Many investigations have been carried out to adapt a large and slow turning propeller known as one of the most robust and effective way of achieving high efficiency in ship propulsion system. However, for the same vessel a further increase of propeller diameter would require the modification of the aft end while still paying attention to the hull clearance to prevent excessive propeller excited vibrations. In order to take the advantage of this approach small workboats (e.g. tug boats, fishing vessels etc.) operate in service with a significant increase of aft draught and hence resulting "inclined keel" configuration can be observed. Although it is not unusual to see large vessels sometimes to operate with stern trim to improve their operational performance and fuel efficiency, it is rare to see a such vessel purposely built with an inclined keel feature to fit a large diameter propeller for power saving. This paper investigates the application of the inclined keel configuration to a 3600TEU container vessel with the aim of fitting an 11 % larger diameter propeller (and hence resulting 17.5 % lower rpm) to gain further power saving over the similar size basis container ship with conventional "level keel" configuration.

• Journal of the Society of Naval Architects of Korea
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• v.46 no.2
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• pp.97-104
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• 2009

Ever increasing fuel prices, almost doubled in the last three years, and global pressure to reduce their environmental impact have been enforcing commercial vessel operators and designers to re-assess current vessel designs with emphasis on their propulsion systems and operational practices. In this paper the "Inclined Keel Hull (IKH)" concept, which facilitates to use larger propeller diameter in combination with lower shaft speed rates and hence better transport efficiency, is explored for a modern 3600 TEU container vessel with the aim of fitting an 13 % larger diameter propeller (and hence resulting 20% lower rpm) to gain further power saving over the similar size basis container ship with conventional "level keel" configuration. It appears that successful application of the "inclined keel Hull" concept is a fine balance amongst the maximum gain in propulsive efficiency, minimum increase in hull resistance and satisfaction of other naval architectural and operational requirements. In order to make the concept economically more viable, this paper concentrates on the fore body design with the possible combination of increase of volume in its fore body to recover the expected volume loss in the aft body due to the space for larger propeller and its low wave-making resistance to minimize the efficiency loss using a well-established optimization software.

• Journal of Aerospace System Engineering
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• v.11 no.4
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• pp.36-43
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• 2017

Blade design optimization of QTP-UAV prop-rotor was conducted using ModelCenter(R). Performance efficiency of the blade in hover and forward flight were adopted as the multi-objective function. Required power and pitch link force applied to constraint in each flight mode and limited lower than the value of the baseline blade. Design variables of root chord length of the blade, taper ratio, twist slope, twist angle at 0.5R of the blade, anhedral angle, parabolic coefficient of a tip shape and location of airfoil were used to generate the blade planform. CAMRAD-II, the comprehensive analysis program of rotorcraft, was used for performance analysis of prop-rotor blade in design process. Performance of the optimized blade improved 1.6% of figure of merit in hover and 13.6% of propulsive efficiency in forward flight. Pitch link force also reduced approximately 30% less than that of the baseline blade.

• Bulletin of the Society of Naval Architects of Korea
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• v.26 no.4
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• pp.14-26
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• 1989

This paper describes the method of statistical analysis and its programs for predicting the ship's powering performance. The equation for the wavemaking resistance coefficient is derived as the sectional area coefficients by using the wavemaking resistance theory and its regression coefficients are determined from the regression analysis of the model test results. The equations for the form factor, wake franction and thrust deduction fraction are derived by purely regression analysis of the principal dimensions, sectional area coefficients and model test results. The statistical analyses are performed using the various descriptive statistic and stepwise regression analysis techniques. The powering performance prognosis program is developed to cover the prediction of resistance coefficients, propulsive coefficients, propeller open-water efficiency and various scale effect corrections.

• Journal of Advanced Marine Engineering and Technology
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• v.10 no.3
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• pp.94-106
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• 1986

Since the oil shock of '70s the engine makers have developed new types of diesel engine with low fuel consumption. There is an obvious tendency towards the use of poorer quality fuels, such as the residual oil from chemical processes of refinery. The shaft driving generators is also widely adopted on behalf of the auxiliary diesel engines, which are driving on the expensive diesel oil and have high fuel oil consumption rates, and some mania propulsion diesel engines are equipped with reduction gear systems to get better propulsive efficiency by slower propeller revolutions. The propulsion shafting system equipped with the shaft driving generator or the geared diesel engine shafting system has flexible couplings, and it requires extensive investigations of the torsional vibration and torque fluctuation in order to ensure the acceptable operation range in service. The characteristics of misfiring must be especially examined for the high viscosity fuels to be used. Both torsional vibration and fluctuating torque resulted from misfiring, should be examined for thier effects on the flexible coupling and propulsion shafting system. This paper is to investigate and solve the above mentioned problems which must be predicted on the design-stage of marine propulsion shafting system. A computer program is developed to calculate the indicated diagram, fluctating torque and torsional vibration for both normal and misfiring conditions.

• Journal of Power System Engineering
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• v.19 no.2
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• pp.64-69
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• 2015

Marine diesel engines with high thermal efficiency and fuel diversity used for propulsive power have been taking charge of important position on marine transport. However, marine environment has recently focused on emissions such as nitrogen oxide and sulfur oxide which is generated from combustion of low grade fuels. EGR(Exhaust gas recirculation) system is one of effective methods to reduce the nitrogen oxide emission from marine diesel engines. In general, it is considered that recirculating gas influences fuel combustion and emissions in diesel engines. However, along with positive effects of EGR, the EGR system using fuels of including high sulfur concentration should be considered about re-combustion and activation of sulfur dioxide in recirculating gas. Therefore, in experimental study, an author investigates effects of sulfur dioxide mixture concentration in intake air on combustion and exhaust emission characteristics in a direct injection diesel engine. In results, change of sulfur dioxide concentrations in intake air had negligible impact on combustion chamber pressure, rate of heat release and emissions compared with effects of oxygen decreasing and carbon dioxide increasing of EGR.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.1 s.139
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• pp.1-9
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• 2005

Waterjet propulsion is widely used to thrust high speed marine vessels in excess of 30-35 knots by virtue of the high propulsive efficiency, good maneuverability, and less cavitation. From the aspect of power loss, approximately $7-9\%$ of the total power is lost in intake duct due to the flow separation, nonuniformity, etc. Thus, detail understanding of flow phenomena occurring within intake duct is essential to reduce the power loss, as well as noise and vibration. The present work solved 30 incompressible RANS equations to provide complicated viscous flow features of intake duct. The numerical results were compared with experiments and good agreements were obtained for three jet velocity ratios.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.3
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• pp.14-21
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• 2006

The unsteady vortex lattice method is used to model twisting and flapping motions of a rectangular flat plate wing. The results for plunging and pitching motions were compared with the limited experimental results available and other numerical methods. They show that the method is capable of simulating many of the features of complex flapping flight. The lift, thrust and propulsive efficiency of a rectangular flat plate wing have been calculated for various twisting angles and reduced frequency with an amplitude of flapping angle($20^{\circ}$). And the effects of the twisting on the aerodynamic characteristics of the flapping wing are discussed by examination of their trends.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.32 no.3
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• pp.273-285
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• 1996

Generally, the flow around the ship's hull often appear 3-dimensional separation at the bow and stem, and the vortex by this flow affects greatly the resistance propulsive efficiency and maneuverability of the ship. This study is compared the calculated result based on the streamlines calculation method with the experimental result by oil fIlm method to analyze the patterns and characteristics of the flows around the ship's hull of chine form. DTMB Series 62, 4667-1 vessel was selected as a sample ship of chine form and model ship was painted with the mixture of oil-color, paint, and poly wax at the surface of the vessel and tested in the model towing tank of Inha University. The results obtained in this study are listed briefly as follows ; 1. For the single chine form, after $4\frac{1}{2}$ station the streamlines are crossed at the chine line and the streamlines are converted to the vortex follow the chine line. 2. For the single chine form, the vortex appered increases and severely in and arround the stern. 3. The approximate streamlines for the ship's hull of chine form can be assigned by the use of the Watanabe's basic transformation formular.