• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• v.5 no.1
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• pp.46-52
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• 2002

A robust nonlinear observer, utilizing the sliding mode concept, is developed for the dynamic positioning of ships. The observer provides the estimates of linear velocities of the ship and bias from slowly varying environmental loads. It also filters out wave frequency motion to avoid wear of actuators and excessive fuel consumption. The main advantage of the proposed observer is in its robustness. Especially, the observer structure with a saturation function makes the proposed observer robust against neglected nonlinearties, disturbances and uncertainties. Since the mathematical model of DP ships is difficult to obtain and includes uncertainties and disturbances, it is very important for the observer to be robust. A nonlinear output feedback controller is derives based on the developed observer using the observer backstepping technique, and the global stability of the observer and control law is shown by Lyapunov stability theory.. A set of simulation was carried out to investigate the performance of the proposed observer for dynamic positioning of ships.

• Nuclear Engineering and Technology
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• v.51 no.5
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• pp.1231-1240
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• 2019

Unlike land-based nuclear power plants, a marine or floating reactor is affected by external forces due to ocean conditions. These external forces can cause additional accelerations and affect each system and equipment of the marine reactor. Therefore, in designing a marine reactor and evaluating its performance and stability, a thermal hydraulic safety analysis code is necessary to consider the thermal hydrodynamic effects of ship motion. MARS, which is a reactor system analysis code, includes a dynamic motion model that can simulate the thermal-hydraulic phenomena under three-dimensional motion by calculating the body force term included in the momentum equation. In this study, it was verified that the dynamic motion model can simulate fluid motion with reasonable accuracy using conceptual problems. In addition, two modifications were made to the dynamic motion model; first, a user-supplied table to simulate a realistic ship motion was implemented, and second, the flow regime map determination algorithm was improved by calculating the volume inclination information at every time step if the dynamic motion model was activated. With these modifications, MARS could simulate the thermal-hydraulic phenomena under ocean motion more realistically.

• Journal of the Korean Geotechnical Society
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• v.35 no.12
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• pp.123-134
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• 2019

This study presents dynamic responses of circular pipe models as a part of fundamental studies on dynamic stability monitoring of the large circular steel pipe cofferdam with the ship collision. Small-scaled laboratory experiments are performed with a single and bolted circular steel pipes with a diameter, thickness, and height of 30, 0.4, 90 cm, respectively. The bolted circular steel pipe is configured with three segments of 30 cm in height. Circular steel pipe models are embedded in a soil tank, all 1 m in length, width, and height. The thickness of soil in the soil tank is set at 23 cm. The ship collision is simulated with a hammer impacting. The dynamic responses are investigated with different water levels of 25, 40, 55, and 70 cm. Experimental results show that a signal energy decreases with increasing water level. More sensitive reduction in the energy appears for the bolted circular steel pipe. A predominant frequency decreases with increasing water level for both single and bolted steel pipes. The minor reduction in the frequency appears for the bolted circular steel pipe under the water level of 70 cm. This study suggests that the signal energy and frequency response is useful for the dynamic stability monitoring of the large circular steel pipe cofferdam.

• Structural Engineering and Mechanics
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• v.62 no.4
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• pp.381-389
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• 2017

In the present study, the advanced procedure has been proposed to estimate higher accuracy of embedment of pipes that are installed on soft clay seabed. Numerical simulation by OrcaFlex simulation code was performed to investigate dynamic seabed embedment, and two steps, i.e., static and dynamic analysis, were adopted. In total, four empirical curves were developed to estimate the seabed embedment including dynamic phenomena, i.e., behaviour of vessel, environmental condition, and behaviour of nonlinear soil. The obtained results were compared with existing methods (named general method) such as design code or guideline to examine the difference of seabed embedment for existing and advance methods. Once this process was carried out for each case, a diagram for estimating seabed embedment was established. The applicability of the proposed method was verified through applied examples with field survey data. This method will be very useful in predicting seabed embedment on soft clay, and the structural behaviours of installed subsea pipelines can be changed by the obtained seabed embedment in association with on-bottom stability, free span, and many others.

• Journal of Ocean Engineering and Technology
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• v.31 no.3
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• pp.196-201
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• 2017

A cylindrical structure has a very long period of heave and pitch motion response in ocean waves. To obtain the dynamic stability of a cylindrical structure, it is necessary to obtain the suitable metacentric height (GM). However, in a structure with sufficient metacentric height, Mathieu instability can occur if the natural frequency of the heave motion is double the natural frequency of the roll and pitch motion. This study carried out numerical calculations and experiments for vertical-axis wind turbines with cylindrical floaters, which had three different centers of gravity. In the regular wave experiment, the divergence of the structure motion without yaw was observed when the natural frequency of the heave motion was double the natural frequency of the roll and pitch motion. In the irregular wave experiment, the motion spectra of the structures with the different centers of gravity were compared, and one was very high when the natural frequency of the heave motion was double the natural frequency of the roll and pitch motion.

• Special Issue of the Society of Naval Architects of Korea
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• 2017.10a
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• pp.19-27
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• 2017

In spite of adoption of Intact Stability Code Part A as mandatory, the accidents have been occurred frequently caused by dynamic stability. Therefore International Maritime Organization (IMO) is revising the Intact Stability Code to prevent the cause of accidents. The result of 4th meeting of Sub-committee on Ship Design and Construction (SDC), five mode of the cause was defined and establishing each draft regulations. We consider physical background, mathematical description, draft regulations for five failure mode and sample calculations for ships built by STX Offshore & Shipbuilding.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.4 s.148
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• pp.451-459
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• 2006

When a ship is damaged and flooded, the motion of the damaged ship is significantly influenced by the flooding water dynamics. The flooding water in the damaged ship has been treated as a lumped mass under the quasi-static assumption in most of previous researches. To calculate the motion of damaged ship rigorously, it is necessary to analyze the coupled dynamics of flooding water. In this study, a series of numerical and experimental studies is conducted for the damaged part of ITTC RORO passenger. FLOW3D is used for investigating the feasibility of the state of the art CFD technique. An applicability of the coupled motion analysis of damaged ships can be confirmed by agreement between the numerical results and the model experiments. A CFD technique is considered for the numerical modeling of the dynamics of flooding water.

• Journal of the Korean Institute of Navigation
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• v.11 no.1
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• pp.93-106
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• 1987

Nowadays natural resources on shore have been almost exhausted all over the world and mankind is beginning searching for unexploited resources on the bed of deep-sea floor. In exploring mineral resources and etc. in the ground of sea-bed, a sumbersible craft is one of the most important tools. These days, the stage of the technique of building and operating an exploring submersible craft is almost alike that of building and operating an airplane in the first years of the nineteen-twenties. At the present time, the problems arising in building and operating a submersible craft can be divided into four parts as follows; 1. How to build a hull that can bear high pressure under deep sea level. 2. How to decide the necessary facilities to be put on it. 3. How to decide the scope of stabilities and maneuvering characteristics of it. 4. On what sea conditions, the devices of launching and recovering it should be designed on the mother-ship. In this paper treating one of the third problems the author made a mathematic formula that can be useful in deciding the scope of dynamic course stability on the vertical plane and actually calculated the onset speed of pitch instability of an exploring craft. With the above mentioned calculations the author demonstrated that the value of $Z_g$ and the speed of a submerged craft are the most important factors in decideing the scope of dynamic stability on the vertical plane.

• Journal of the Society of Naval Architects of Korea
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• v.54 no.3
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• pp.196-203
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• 2017

In general, the installation of offshore wind turbine have been carried out by a jack-up barge or wind turbine installation vessel. In case of using jack-up barge, an additional barge is required to transport offshore wind turbines. During the transportation, barge is affected by environmental conditions such as wave, wind etc. So, it is important to secure the static and dynamic stability of the barge. In this study, fundamental research was performed to evaluate the stability of barge due to use the guide frame. The analysis for static stability of barge was performed under the two loading conditions with or without wave and those results were evaluated according to the Ministry of Oceans and Fisheries rules. Also motion analysis was performed under the ITTC wave spectrum using buoy data and evaluated based on NORDFORSK guideline by using commercial software Maxsurf Motions.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.3
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• pp.175-181
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• 2013

This paper presents a simulation for passenger ship evacuation considering the inclination of a ship. In order to describe a passenger's behavior in an evacuation situation, a passenger is modeled as a rigid body which translates in the horizontal plane and rotates along the vertical axis. The position and rotation angle of a passenger are calculated by solving the dynamic equations of motions at each time step. To calculate inclined angle of damaged ship, static equilibrium equations of damaged ship are derived using "added weight method". Using these equations, physical external forces due to the inclination of a ship act on the body of each passenger. The crowd behavior of the passenger is considered as the flock behavior, a form of collective behavior of a large number of interacting passengers with a common group objective. Passengers can also avoid an obstacle due to penalty forces acting on their body. With the passenger model and forces acting on its body, the test problems in International Maritime Organization, Maritime Safety Committee/Circulation 1238(IMO MSC/Circ.1238) are implemented and the effects of ship's inclination on the evacuation time are confirmed.