• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.222-229
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• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• Wind and Structures
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• v.34 no.1
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• pp.137-149
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• 2022

In this paper, the fluctuating lift and drag forces on 5:1 rectangular cylinders with two different geometric scales in three turbulent flow-fields are investigated. The study is particularly focused on understanding the influence of the ratio of turbulence integral length scale to structure characteristic dimension (the length scale ratio). The results show that both fluctuating lift and drag forces are influenced by the length scale ratio. For the model with the larger length scale ratio, the corresponding fluctuating force coefficient is larger, while the spanwise correlation is weaker. However, the degree of influence of the length scale ratio on the two fluctuating forces are different. Compared to the fluctuating drag, the fluctuating lift is more sensitive to the variation of the length scale ratio. It is also found through spectral analysis that for the fluctuating lift, the change of length scale ratio mainly leads to the variation in the low frequency part of the loading, while the fluctuating drag generally follows the quasi-steady theory in the low frequency, and the slope of the drag spectrum at high frequencies changes with the length scale ratio. Then based on the experimental data, two empirical formulas considering the influence of length scale ratio are proposed for determining the lift and drag aerodynamic admittances of a 5:1 rectangular cylinder. Furthermore, a simple relationship is established to correlate the turbulence parameter with the fluctuating force coefficient, which could be used to predict the fluctuating force on a 5:1 rectangular cylinder under different parameter conditions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.6
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• pp.3950-3960
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• 2014

In this study, the drag forces on a submerged square cylinder were analyzed using a three dimensional hydrodynamic model. The numerical results were compared with the experimental results to check the reliability of the numerical simulations, and the characteristics of the drag forces with the relative depths were analyzed by analyzing the pressure acting on the cylinder surface, which are normally difficult to measure experimentally. The numerical results showed that the drag forces acting on a submerged square cylinder originate mainly from the pressure forces, and component of the shear forces decreased with increasing relative depth. The pressure coefficient distributions showed that in the case of a low relative depth, a relatively high pressure was formed in the front of a cylinder, and a relatively low pressure was formed in the rear, which gives a high drag coefficient. In a high relative depth, the pressure in the front decreased and pressure in the rear increased, which is a similar phenomenon to that normally observed in two dimensional square cylinder flow. The effect of the static pressure was analyzed and the surface elevation difference between the front and rear zone of a cylinder has a limited effect on the drag forces. Finally, the numerical results showed that the drag forces acting on a submerged square are dominated by the dynamic pressure formed by three dimensional flow and the distribution of local surface elevation.

• Journal of Advanced Navigation Technology
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• v.20 no.2
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• pp.134-140
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• 2016

This paper analyzed flight trajectory characteristics of ballistic missiles considering effects of drag forces. It is difficult to intercept ballistic missiles which fly over atmosphere with supersonic speeds and small radar cross section (RCS). In particular, the velocities in the phases of boost and terminal are changed significantly due to the steep variation of the drag force. Therefore, in order to build up a successful ballistic missile defense systems, the effects of the drag forces should be considered in the analysis of ballistic missile trajectory characteristics. In this point of view, this work analyzed the effects of drag forces and derived the flight trajectory characteristics of Scud B, C and Nodong missiles. Model of the ballistic missile flight trajectory is considered the effects of Coriolis and centrifugal forces, and specifications of the missiles are open sources.

• Tribology and Lubricants
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• v.11 no.1
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• pp.20-26
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• 1995

Most magnetic bearings are based on the attractive force between the magnets and ferrous materials. One of the disadvantages of such attractive type magnetic bearings is the instability so that an active control device is necessary to operate bearing successfully. In this study a repulsive type magnetic bearing is analyzed which uses eddy current as a force source. The load capacities are analyzed for the various gap sizes, the rotor velocities and the frequencies of current supplied to electromagnet. Analytic Results show that as the gap size decreases, the levitation and drag forces increase, while the number of poles increasqs, the drag force decreases in the higher linear velocity region. Experimental results show that as the gap size decreases the levitation and the drag force increase, and as the velocity of rotor increases, the drag is larger than the levitation force up to certain velocity. But after that, the levitation is larger than the drag force. As the frequency of the current increases the levitation and drag decreases while the thickness of rotor gets thicker the forces decrease because of increase in eddy current loss.

• Wind and Structures
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• v.27 no.5
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• pp.293-309
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• 2018

The prediction of multimode flutter relies, to a larger extent than bimodal flutter, on accurate modeling of the self-excited forces since it is challenging to perform experimental validation by using aeroelastic tests for a multimode case. This paper sheds some light on the accuracy of predicted self-excited forces by comparing numerical predictions of self-excited forces with measured forces from wind tunnel tests considering the flutter vibration mode. The critical velocity and the corresponding flutter vibration mode of the Hardanger Bridge are first determined using the classical multimode approach. Then, a section model of the bridge is forced to undergo a motion corresponding to the flutter vibration mode at selected points along the bridge, during which the forces that act upon it are measured. The measured self-excited forces are compared with numerical predictions to assess the uncertainty involved in the modeling. The self-excited lift and pitching moment are captured in an excellent manner by the aerodynamic derivatives. The self-excited drag force is, on the other hand, not well represented since second-order effects dominate. However, the self-excited drag force is very small for the cross-section considered, making its influence on the critical velocity marginal. The self-excited drag force can, however, be of higher importance for other cross-sections.

• Journal of computational fluids engineering
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• v.14 no.3
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• pp.9-15
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• 2009

Numerical investigation has been carried out for laminar flow past an inclined square cylinder in cross freestream. In particular, inclination of a square cylinder with respect to the main flow direction can cause sudden shift of the separation points to other edges, resulting in drastic change of flow-induced forces on the cylinder such as Strouhal number (St) of vortex shedding, drag and lift forces on the cylinder, depending upon the inclination angle. Collecting all the numerical results obtained, we propose contour diagrams of drag/lift coefficients and Strouhal number on an Re-Angle plane. This study would be the first step towards understanding flow-induced forces on cylindrical structures under a strong gust of wind from the viewpoint of wind hazards.

• Wind and Structures
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• v.20 no.2
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• pp.237-247
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• 2015

Wind tunnel experiments are used to investigate the aerodynamic interactions between vehicles and wind barriers on a railway bridge. Wind barriers with four different heights (1.72 m, 2.05 m, 2.5 m and 2.95 m, full-scale) and three different porosities (0%, 30% and 40%) are studied to yield the aerodynamic coefficients of the vehicle and the wind barriers. The effects of the wind barriers on the aerodynamic coefficients of the vehicle are analyzed as well as the effects of the vehicle on the aerodynamic coefficients of the wind barriers. Finally, the relationship between the drag forces on the wind barriers and the aerodynamic coefficients of the vehicle are discussed. The results show that the wind barriers can significantly reduce the drag coefficients of the vehicle, but that porous wind barriers increase the lift forces on the vehicle. The windward vehicle will significantly reduce the drag coefficients of the porous wind barriers, but the windward and leeward vehicle will increase the drag coefficients of the solid wind barrier. The overturning moment coefficient is a linear function of the drag forces on the wind barriers if the full-scale height of the wind barriers $h{\leq}2.5m$ and the overturning moment coefficients $C_O{\geq}0$.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.1
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• pp.369-376
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• 1996

Variations of the drag and lift forces of a circular cylinder in a planar turbulent jet were experimentally investigated. The force was directly measured using the load cell and estimated by integrating the pressure distribution on the cylinder. As the cylinder moves outward from the center of the jet, the direction of lift force changes and the drag force decreases. Reynolds number, the ratio of cylinder's diameter to half width of jet had effect on maximum drag coefficient and the location where the direction of lift changes.

• Journal of Ocean Engineering and Technology
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• v.10 no.1
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• pp.75-80
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• 1996

The importance of the impact force on the vertical offshore circular structure member in the surf zone due to the breaking wave has been recognized recently. In this paper characteristics of breaking wave forces and the corresponding estimation procedures for them are investigated. For the characterization of the wave forces, three parts, drag force, inertia force, impact force are categorized and identified, respectively. Among them the impact force is maimly studied and the concise form of the force is proposed with the application scheme for the design of offshore circular structure member. The resulting form porposed here for impact force is well coincided with former research results by other people. Except the impact force, so called Morison equation can be employed for the common offshore structure design. The drag force and inertia force are represented as convertionally for the profile except the breaking part. In the numerical example, for thpical sea condition and the member size, the proposed procedures for the breaking wave forces calculation are demonstrated. It is found that the impact force is the most deminant one comparing with inertia and drag forces in the surf zone.