• Journal of the Society of Naval Architects of Korea
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• v.53 no.1
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• pp.10-17
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• 2016

When a planing hull straightly runs and turns, its floating position and pitch angle are changed depending on its speed, and large transient motion happens. In this paper, six degrees of freedom(6 DOF) equations of motion, which could simulate the motion of a planing hull, are established. Static and dynamic forces in vertical plane are modeled using pre-calculated displacements and metacentric heights depending on various draft, lift under bottom, and vertical damping coefficients which are used to tune the final motion. Hydrodynamic coefficients in horizontal plane at various equilibrium state are calculated by using Lewandowski's empirical formula and the speed-dependent equilibrium state are calculated beforehand by Savitsky's formula. The speed effects are considered by curve-fitting the coefficients at various speed to the polynomials. Accelerating, decelerating and backing, turning, and zig-zag are simulated and compared with the sea trial results, and it is confirmed that the speed reduction, roll, and pitch during such maneuvers of sea trial and simulation are well consistent.

• Journal of Ship and Ocean Technology
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• v.8 no.4
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• pp.1-9
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• 2004

High lifting devices used for control purposes have received much attention in the marine field. Hydrofoils for supporting the hull, roll stabilizer fins for developing the motion damping performance, rudders for maneuverability are the well-known devices. In the present study, the ability of the rudder with flap to produce high lift was analyzed. The boundary layer control, one of the flow control techniques, was adopted. Especially, to build the blown flap, a typical and representative type of a boundary layer control, a flapped rudder was designed and manufactured so that it could eject the water jet from the gap between the main foil and the flap to the flap surface tangentially. And it was tested in the towing tank. Simultaneously, to know the information about the 2-dimensional flow field, a fin model with similar characteristics as the rudder model applicable for the motion control was made and tested in the cavitation tunnel. In addition, local flow measurements were carried out to obtain physical information, for example, a surface pressure measurement and flow visualization around the flap. And CFD simulation was used to obtain information difficult to collect from the experiment about the 2-dimensional flow.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.2
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• pp.60-65
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• 1992

The roll response of a ship to random beam seas is investigated in terms of the threshold crossing process. The non-white excitation process is modeled as an equivalent white-noise one based on the assumption that the upcrossing properties of the response can be approximately replaced by the excitation with a white noise process with a suitable intensity. Then the non-linear damping is reinstated. The reinstated equation of motion with the equivalent white-noise intensity is solved using the equivalent non-linear method to get the desired probability density function. The proposed scheme is tested extensively with varing coefficients.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.888-894
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• 2016

This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch-Pitch-Pitch-Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw-Pitch-Pitch-Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton-Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.3
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• pp.565-573
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• 2017

This paper presents a multistage in-flight alignment (MIFA) method for a strapdown inertial navigation system (SDINS) suitable for moving vehicles with no initial attitude references. A SDINS mounted on a moving vehicle frequently loses attitude information for many reasons, and it makes solving navigation equations impossible because the true motion is coupled with an undefined vehicle attitude. To determine the attitude in such a situation, MIFA consists of three stages: a coarse horizontal attitude, coarse heading, and fine attitude with adaptive Kalman navigation filter (AKNF) in order. In the coarse horizontal alignment, the pitch and roll are coarsely estimated from the second order damping loop with an input of acceleration differences between the SDINS and GPS. To enhance estimation accuracy, the acceleration is smoothed by a scalar filter to reflect the true dynamics of a vehicle, and the effects of the scalar filter gains are analyzed. Then the coarse heading is determined from the GPS tracking angle and yaw increment of the SDINS. The attitude from these two stages is fed back to the initial values of the AKNF. To reduce the estimated bias errors of inertial sensors, special emphasis is given to the timing synchronization effects for the measurement of AKNF. With various real flight tests using an UH60 helicopter, it is proved that MIFA provides a dramatic position error improvement compared to the conventional gyro compass alignment.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.106-115
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• 2019

The interaction between a sloshing liquid damper (SLD) tank and a rectangular pontoon was investigated under the assumption of the linear potential theory. The eigenfunction expansion method was used not only for the sloshing problem in the SLD tank but also for analyzing the motion responses of a rectangular pontoon in waves. If the frictional damping due to the viscosity of the SLD tank was ignored, the effect of the SLD appeared to be an added mass in the coupled equation of motion. The installation of the SLD tank had a greater effect on the roll motion response than the sway and heave motion of the pontoon. One resonance peak for rolling motion showed up in the case of a frozen liquid in the SLD tank. However, if liquid motion in the SLD tank was allowed, two peaks appeared around the first natural frequency of the fluid in the SLD tank. In particular, the peak value located in the low-frequency region had a relatively large value, and the peak frequency located in the high-frequency region moved into the high-frequency region as the depth of the liquid in the tank increased.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.6_1
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• pp.907-915
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• 2020

Specification selection, Layout, specifications and combinations of Power Drives, and Ship motions were studied for FGPP(Floating Gas-fired Power Plants), which are still needed in areas such as the Caribbean, Latin America, and Southeast Asia where electricity is not sufficiently supplied. From this study, the optimal equipment layout in ships was derived. In addition, the difference between engine and turbine was verified through LCOE(Levelized Cost of Energy) comparison according to the type and combination of Power Drives. Analysis of Hs(Significant Height of wave) and Tp(spectrum Peak Period of wave) for places where this FGPP will be tested or applied enables design according to wave characteristics in Brazil and Indonesia. Normalized Sloshing Pressures of FGPP and LNG Carrier are verified using a sloshing analysis program, which is CFD(Computational Fluid Dynamics) software developed by ABS(American Bureau of Shipping). Power Transmission System is studied with Double bus with one Circuit Breaker Topology. A nd the CFD analysis allowed us to calculate linear roll damping coefficients for more accurate full load conditions and ballast conditions. Through RAO(Response Amplitude Operator) analysis, we secured data that could minimize the movement of ships according to the direction of waves and ship placement by identifying the characteristics of large movements in the beam sea conditions. The FGPP has been granted an AIP(Approval in Principle) from a classification society, the ABS.

• Journal of the Semiconductor & Display Technology
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• v.21 no.4
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• pp.132-137
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• 2022

In this paper, we have studied the quadrature error reduction for the single drive 3-axis MEMS Gyroscope. There was a limitation of the previous study which is the z-axis quadrature error was large. To reduce this value, design methodologies were presented. And the methodologies included a different mesh application, z-rate spring structure change, and mass compensation for balancing of the structure. We conducted the modal analysis, drive mode analysis and sense mode analysis using COMSOL Multiphysics. As a result, a drive resonant frequency was 26003 Hz, with the x-sense, y-sense, z-sense being 26749 Hz, 26858 Hz, 26920 Hz, respectively. And the Mechanical sensitivity was computed at 2000 degrees per second(dps) input angular rate while the sensitivity for roll, pitch, and yaw was computed 0.011, 0.012, and 0.011 nm/dps respectively. And z-axis quadrature error was successfully improved, 2.78 nm to 0.95 nm, which the improvement rate was about 66 %.

• Journal of the Korean Society of Radiology
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• v.17 no.3
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• pp.441-447
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• 2023

Lead(Pb), which is currently mainly used for shielding purposes in the medical radiation, has excellent radiation shielding functions, but is continuously exposed to radiation directly or indirectly due to the harmfulness of lead itself to the human body and the inconvenience caused by its heavy weight. Research on shielding materials that are human-friendly, lightweight, and convenient to use that can block risks and replace lead is continuously being conducted. In this study, based on the commonly used polyethylene terephthalate (PET) film and the fabric material used in actual radiation protective clothing, a multi-layer thin film was realized through sputtering and vacuum deposition of bismuth, tungsten, and tin, which are metal materials that can shield radiation. Thus, a shielding film was produced and its applicability as a radiation shielding material was evaluated. The radiation shielding film was manufactured by establishing the optimized conditions for each shielding material while controlling the applied voltage, roll driving speed, and gas supply amount to manufacture the shielding film. The adhesion between the parent material and the shielding metal thin film was confirmed by Cross-cut 100/100, and the stability of the thin film was confirmed through a hot water test for 1 hour to measure the change of the thin film over time. The shielding performance of the finally realized shielding film was measured by the Korea association for radiation application (KARA), and the test conditions (inverse wide beam, tube voltage 50 kV, half layer 1.828 mmAl) were set to obtain an attenuation ratio of 16.4 (initial value 0.300 mGy/s, measured value 0.018 mGy/s) and damping ratio 4.31 (initial value 0.300 mGy/s, measured value 0.069 mGy/s) were obtained. by securing process efficiency for future commercialization, light and shielding films and fabrics were used to lay the foundation for the application of films to radiation protective clothing or construction materials with shielding functions.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.2
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• pp.248-253
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• 2023

Most offshore platforms utilize chain mooring systems for position keeping. However, information regarding related design modification processes is scarce in literature. This study focuses on the floating liquefied natural gas (LNG) bunkering terminal (FLBT) as the target of shore platform and analyzes the corresponding initial mooring design and model tests via numerical simulations. Subsequently, based on the modified design conditions, a new mooring system design is proposed. Adjusting the main direction of the mooring line bundle according to the dominant environmental direction is found to significantly reduce the mooring design load. Even turret-moored offshore platforms are exposed to beam sea conditions, leading to high mooring tension due to motions in beam sea conditions. Collinear environmental conditions cannot be considered as design conditions. Mooring design loads occur under complex conditions of wind, waves, and currents in different environmental directions. Therefore, it is essential appropriately assign the roll damping coefficients during mooring analysis because the roll has a significant effect on mooring tension.