• 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.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.318-328
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• 2018

Disk type underwater gliders are a new type of underwater gliders and they could glide in various directions by adjusting the internal structures, making a turnaround like conventional gliders unnecessary. This characteristic of disk type underwater gliders makes them have great potential application in virtual mooring. Considering dynamic models of conventional underwater gliders could not adequately satisfy the motion characteristic of disk type underwater gliders, a nonlinear dynamic model for the motion simulation of disk type underwater glider is developed in this paper. In the model, the effect of internal masses movement is taken into consideration and a viscous hydrodynamic calculation method satisfying the motion characteristic of disk type underwater gliders is proposed. Through simulating typical motions of a disk type underwater glider, the feasibility of the dynamic model is validated and the disk type underwater glider shows good maneuverability.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1991.04a
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• pp.8-14
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• 1991

The finite element technique incorporating infinite elements is applied to analyzing the general three dimensional wave-structure interaction problems within the limits of linear wave theory. The hydrodynamic farces are assumed to be inertially dominated, and viscous effects are neglected. In order to analyze the corresponding boundary value problems efficiently, two types of elements are developed. One is the infinite element for modeling the radiation condition at infinity, and the other is the fictitious bottom boundary element for the case of deep water. To validate those elements, numerical analyses are performed for several floating structures. Comparisons with the results from culler available solution methods show that the present method incorporating tile infinite and the fictitious bottom boundary elements gives good results.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.416-419
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• 2006

Numerical analysis is carried out to identify the wall thinning effect inside the feed water valve. The finite volume method is applied to make analysis for the viscous flows. The commercial cock FLUENT is used for the simulation and the GAMBIT for the grid generation. The RNG $\kappa-\varepsilon$ model is used for the turbulence and the tet-hybrid grid is applied for the modeling. The velocity vector, the pressure contour, the change of residual along the iteration number, and the dynamic head are predicted for the hydrodynamic investigation.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.2
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• pp.61-69
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• 2004

In this study, flow around rudder is analyzed by utilizing the numerical calculation, and the rudder open water test is performed to validate the calculation. The aim of this study is to design the new rudder shape to improve manoeuvring performance. In first, flow around two-dimensional rudder section is analyzed to understand the characteristics of section profile. And the calculation for all-movable rudders is performed and compared with results of rudder open water test. It is hard to numerically predict the drag force because the value is sensitive to the turbulence modeling and grid spacing near the wall. However, the lift force is predicted well. And we can prove that concave profile of the rudder section produce more lift and torque than convex one as a experiment. However PANEL method that ignore viscous effect cannot distinguish the difference of them. So, we can look for the numerical tool to be developed the new rudder shape.

• Computational Structural Engineering
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• v.4 no.4
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• pp.135-144
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• 1991

The finite element technique incorporatating infinite elements is applied to analyzing the general three dimensional wave-structure interaction problems within the limits of linear wave theory. The hydrodynamic forces are assumed to be inertially dominated, and viscous effects are neglected. In order to analyze the corresponding boundary value problems efficiently, two types of elements are developed. One is the infinite element for modeling the radiation condition at infinity, and the other is the fictitious bottom boundary element for the case of deep water. To validate those elements, numerical analyses are performed for several floating structures. Comparisons with the results by using other available solution methods show that the present method incorporating the infinite and the fictitious bottom boundary elements gives good results.