• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Journal of the Society of Naval Architects of Korea
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• v.51 no.3
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• pp.179-183
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• 2014

The fluid loading effect has been investigated for the shipboard equipment foundation mobility with finite element model. For the purpose, two kinds of finite element models for 60m class ship have been developed: global and local model. The former is for low frequency range and the latter for middle frequency range. These finite element models contain added mass explaining fluid loading effect. Added mass has been implemented with virtual mass matrix derived from Laplace equation governing fluid surrounding ship hull. The mobility assessment result for diesel generator foundation of the objective model shows that the fluid loading effect should be considered, especially in low frequency range, to more accurately assess shipboard equipment foundation mobility.

• Journal of the Society of Naval Architects of Korea
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• v.57 no.5
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• pp.271-277
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• 2020

Recoverability and vulnerability of navy ships under underwater explosion are critical verification factors in the acquisition phase of navy ships. This paper aims to establish numerical analysis techniques for the underwater explosion of navy ships. Doubly Asymptotic Approach (DAA) Equation of Motion (EOM) of primary shock wave and secondary bubble pulse proposed by Geers-Hunter was introduced. Assuming a non-compressive fluid, reference solution of the DAA EOM of Geers-Hunter using Runge-Kutta method was derived for the secondary bubble pulse phase with an assumed charge conditions. Convergence analyses to determine fluid element size were performed, suggesting that the minimum fluid element size for underwater explosion analysis was 0.1 m. The spherical and cylindrical fluid domains were found to be appropriate for the underwater explosion analyses from the fluid domain shape study. Because the element size of 0.1 m was too small to be applied to the actual navy ships, a very slender beam with the square solid section was selected for the study of fluid domain existence effect. The two underwater explosion models with/without fluid domain provided very similar results in terms of the displacement and stress processes.

• Structural Engineering and Mechanics
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• v.82 no.3
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• pp.355-367
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• 2022

The effect of hydrodynamic damping on intake tower is twofold: one is fluid damping and another is structural damping. Fluid damping can be derived analytically from the governing equation of the fluid-structure-interaction (FSI) problem which yields a very complicated solution. To avoid the complexity of the FSI problem water-tower system can be simplified by considering water as added mass. However, in such a system a reconsideration of structural damping is required. This study investigates the effects of this damping on the dynamic response of the intake tower, where, apart from the "no water (NW)" condition, six other cases have been adopted depending on water height. Two different cross-sections of the tower are considered and also two different damping properties have been used for each case as well. Dynamic analysis has been carried out using horizontal ground motion as input. Finally, the result shows how hydrodynamic damping affects the dynamic behavior of an intake tower with the change of water height and cross-section. This research will help a designer to consider more conservative damping properties of intake tower which might vary depending on the shape of the tower and height of water.

• Bulletin of the Korean Mathematical Society
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• v.52 no.4
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• pp.1059-1068
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• 2015

The paper is devoted to studying a fourth-order degenerate parabolic equation, which arises in fluid, phase transformation and biology. Based on the existence and uniqueness of one semi-discrete problem, two types of approximate solutions are introduced. By establishing some necessary uniform estimates for those approximate solutions, the existence and uniqueness of the corresponding parabolic problem are obtained. Moreover, the long time asymptotic behavior is established by the entropy functional method.

• Journal of Ocean Engineering and Technology
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• v.15 no.3
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• pp.9-19
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• 2001

In this paper we present the aspect of inertial oscillation typically observed in the spin-up of fluids at low Rossby numbers in a circular cylinder. Numerical computations for the quasi three-dimensional equation as well as one-dimensional equation are performed to estimate the predictability of the one-dimensional equation with Ekman pumping/suction models. It is assumed that the discrepancy between the two results may be attributed to the inertial oscillation The detailed analysis to the numerical results reveals that the axial plane is dominated by a comparatively strong oscillatory flows caused by the inertial oscillation. In view of the fact that the time-averaged flow field however agrees to the Taylor-Proudman theorem, it is recommended that further analysis is needed to obtain an improved one-dimensional model like the Reynolds-averaged Navier-Stokes equation for turbulent flows.

• Smart Structures and Systems
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• v.17 no.2
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• pp.275-296
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• 2016

This paper focuses on developing a new configuration on magnetorheological (MR) brake damper as prosthetic knee. Prosthetic knee uses magnetic fields to vary the viscosity of the MR fluid, and thereby its flexion resistance. Exerted transmissibility torque of the knee greatly depends on the magnetic field intensity in the MR fluid. In this study a rotary damper using MR fluid is addressed in which a single rotary disc will act as a brake while MR fluid is activated by magnetic field in different walking gait. The main objective of this study is to investigate a prosthetic knee with one activating rotary disc to accomplish necessary braking torque in walking gait via T-shaped drum with arc surface boundary and implementing of Newton's equation of motion to derive generated torque at the inner surface of the rotary drum. For this purpose a novel configuration of a T-shaped drum based on the effects of a material deformation process is proposed. In this new design, the T-shaped disc will increase the effective areas of influences in between drum and MR fluid together and the arc wall crushes the particles chains (fibrils) of the MR fluid together instead of breaking them via strain in a conventional MR brake. To verify the proposed MR brake, results of the proposed and conventional MR brakes are compared together and demonstrated that the resisting torque of the proposed MR brake is almost two times greater than that of the conventional brake.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.4-147
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• 2001

This work presents the robust controller and the LQG/LTR controller for the stewart platform. To simplify the dynamics we combine equation of the stewart platform and linearized one of hydraulic actuators not considered condensability of the fluid. Through the connection of two dynamic equations we can omit force feedback process of actuators and design controllers for the whole system. We applied two controllers on the stewart platform and show the adequacy controllers through the result of simulation and experiment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.356-359
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• 2007

In this paper, the stability of a rotating cantilever pipe conveying fluid with a crack is investigated by the numerical method. That is, the influences of the rotating angular velocity, mass ratio and crack severity on the critical flow velocity for flutter instability of system are studied. The equations of motion of rotating pipe are derived using the Euler beam theory and the Lagrange's equation. The crack section of pipe is represented by a local flexibility matrix connecting two undamaged pipe segments. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations. Generally, the critical flow velocity for flutter is proportional to the angular velocity and the depth of crack. Also, the critical flow velocity and stability maps of the rotating pipe system as a function of mass ratio for the changing each parameter are obtained.

• Journal of Energy Engineering
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• v.7 no.2
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• pp.187-193
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• 1998

The turbulent heat transfer to low Prandtl number fluid flow through rod bundles is analyzed using k-$\varepsilon$ two-equation model. For the prediction of the turbulent flow field, an anisotropic eddy viscosity model is used. In the analysis of the temperature field, the effects of various parameters such as geometry, Reynolds and Prandtl numbers are considered. The calculation in made for Prandtl numbers from 0.001 to 0.1 in order to analyze the heat transfer to low Prandtl number fluid such as liquid metals. The numerical results show that for small P/D (Pitch/Diameter) geometries low Prandtl number makes severe changes of the rod surface temperature.