• Structural Engineering and Mechanics
• /
• v.61 no.6
• /
• pp.785-794
• /
• 2017

This paper is concerned with the comparative numerical and experimental study on the natural behavior and the motion responses of a 1/75 moored scale model of a 2.5 MW spar-type floating offshore wind turbine subject to 1-D regular wave. Heave, pitch and surge motions and the mooring tensions are investigated and compared by numerical and experimental methods. The upper part of wind turbine which is composed of three rotor blades, hub and nacelle is modeled as a lumped mass and three mooring lines are pre-tensioned by means of linear springs. The numerical simulations are carried out by a coupled FEM-cable dynamics code, while the experiments are performed in a wave tank equipped with the specially-designed vision and data acquisition system. Using the both methods, the natural behavior and the motion responses in RAOs are compared and parametrically investigated to the fairlead position, the spring constant and the location of mass center of platform. It is confirmed, from the comparison, that both methods show a good agreement for all the test cases. And, it is observed that the mooring tension is influenced by all three parameters but the platform motion is dominated by the location of mass center. In addition, from the sensitivity analysis of RAOs, the coupling characteristic of platform motions and the sensitivities to the mooring parameters are investigated.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.9 no.6
• /
• pp.693-704
• /
• 2017

Blended-Wing-Body Underwater Glider (BWBUG), which has excellent hydrodynamic performance, is a new kind of underwater glider in recent years. In the shape optimization of BWBUG, the lift to drag ratio is often used as the optimization target. However this results in lose of internal space. In this paper, the energy reserve is defined as the direct proportional function of the internal space of BWBUG. A motion model, which relates gliding range to steady gliding motion parameters as well as energy consumption, is established by analyzing the steady-state gliding motion. The maximum gliding range is used as the optimization target instead of the lift to drag ratio to optimizing the shape of BWBUG. The result of optimization shows that the maximum gliding range of initial design is increased by 32.1% though an Efficient Global Optimization (EGO) process.

• International Journal of CAD/CAM
• /
• v.3 no.1_2
• /
• pp.61-66
• /
• 2003

This paper describes a novel experiment that measures skin movement with respect to the flexional motion of a hand. The study was based on MR images in conjunction with CAD techniques. The MR images of the hand were captured in 3 different postures with surface markers. The surface markers attached to the skin where employed to trace skin movement during the flexional motion of the hand. After reconstructing 3D isosurfaces from the segmented MR images, the global registration was applied to the 3D models based on the particular bone shape of different postures. Skin movement was interpreted by measuring the centers of the surface markers in the registered models.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2001.11b
• /
• pp.171-175
• /
• 2001

Chemical mechanical polishing(CMP) process has been widely used to planarize dielectrics and metal, which can apply to employed in integrated circuits for sub-micron technology. Despite the increased use of CMP process, it is difficult to accomplish the global planarization of free-defects in inter level dielectrics and metal. Especially, defects like (micro-scratch) lead to severe circuit failure, and affects yield. Current conditioning method - bladder type, orbital pad motion- usually provides unsuitable pad profile during ex-situ conditioning near the end of pad life. Since much of the pad wear occurs by the mechanism of bladder type conditioning and its orbital motion without rotation, we need to implement new ex-situ conditioner which can prevent abnormal regional force on pad caused by bladder-type and also need to rotate the pad during conditioning. Another important study of ADPC is related to the orbital scratch of which source is assumed as diamond grit dropped from the strip during ex-situ conditioning. Scratch from diamond grit damaged wafer severely so usually scraped. Figure 1 shows the typical shape of scratch damaged from diamond. e suspected that intensive forces to the edge area of bladder type stripper accelerated the drop of Diamond grit during conditioning. so new designed Flat stripper was introduced.

• International Journal of Aeronautical and Space Sciences
• /
• v.16 no.3
• /
• pp.463-474
• /
• 2015

Future Ground Control Stations (GCSs) for Unmanned Aerial Vehicles (UAVs) teleoperation targets better situational awareness by providing extra motion cues to stimulate the vestibular system. This paper proposes a new virtual environment for long range Unmanned Aerial Vehicle (UAV) control via Non-Line-of-Sight (NLoS) communications, which is based on motion platforms. It generates motion cues for the teleoperator for extra sensory stimulation to enhance the guidance performance. The proposed environment employs the distributed component simulation over GSM network as a simulation platform. GSM communications are utilized as a multi-hop communication network, which is similar to global satellite communications. It considers a UAV mathematical model and wind turbulence effects to simulate a realistic UAV dynamics. Moreover, the proposed virtual environment simulates a Multiple Axis Rotating Device (MARD) as Human Machine Interface (HMI) device to provide a complete delay analysis. The demonstrated measurements cover Graphical User Interface (GUI) capabilities, NLoS GSM communications delay, MARD performance, and different software workload. The proposed virtual environment succeeded to provide visual and vestibular feedbacks for teleoperators via GSM networks. The overall system performance is acceptable relative to other Line-of-Sight (LoS) systems, which promises a good potential for future long range, medium altitude UAV teleoperation researches.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.3
• /
• pp.269-276
• /
• 2010

In this paper, we present the detection method of moving objects based on two background models. These background models support to understand multi layered environment belonged in images taken by shaking camera and each model is MBM(Multiple Background Model) and TMBM (Temporal Median Background Model). Because two background models are Pixel-based model, it must have noise by camera movement. Therefore correlation coefficient calculates the similarity between consecutive images and measures camera motion vector which indicates camera movement. For the calculation of correlation coefficient, we choose the selected region and searching area in the current and previous image respectively then we have a displacement vector by the correlation process. Every selected region must have its own displacement vector therefore the global maximum of a histogram of displacement vectors is the camera motion vector between consecutive images. The MBM classifies the intensity distribution of each pixel continuously related by camera motion vector to the multi clusters. However, MBM has weak sensitivity for temporal intensity variation thus we use TMBM to support the weakness of system. In the video-based experiment, we verify the presented algorithm needs around 49(ms) to generate two background models and detect moving objects.

• Journal of Korea Game Society
• /
• v.18 no.3
• /
• pp.61-70
• /
• 2018

Thanks to the 4th Industrial Revolution, interest in virtual reality increased and many improvements of VR devices were made. Among the VR devices, the simulator plays an important role in improving the real feeling of virtual presence. In this paper, we analyze the case of existing simulator and control method for efficient interlocking of motion simulator and VR contents, and classify motion control elements in VR contents into four types. Based on this preliminary study, this paper proposes a modular motion control method to help the contents and simulator work more effectively in the production of VR contents.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.9 no.1
• /
• pp.114-125
• /
• 2017

This paper addresses a study of inner-tank sloshing effect on motion responses of a Floating Liquefied Natural Gas (FLNG) system, through experimental analysis and numerical modeling. To investigate hydrodynamic characteristics of FLNG under the conditions of with and without LNG-tank sloshing, a series of numerical simulations were carried out using potential flow solver SESAM. To validate the numerical simulations, model tests on the FLNG system was conducted in both liquid and solid ballast conditions with 75% tank filling level in height. Good correlations were observed between the measured and predicted results, proving the feasibility of the numerical modeling technique. On the verified numerical model, Response Amplitude Operators (RAOs) of the FLNG with 25% and 50% tank filling levels were calculated in six degrees of freedom. The influence of tank sloshing with varying tank filling levels on the RAOs has been presented and analyzed. The results showed that LNG-tank sloshing has a noticeable impact on the roll motion response of the FLNG and a moderate tank filling level is less helpful in reducing the roll motion response.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.11
• /
• pp.2073-2082
• /
• 2010

The 4-th generation of mobile communication aims to realize global, fast and mobile communication service. The satellite communication charges a key role in this field. In this study, an OTM(On-The-Move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite was addressed. Since vehicles move during communication, active antenna line-of-sight stabilization is a core technology to guarantee high satellite communication quality. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. Various disturbance torques such as static and dynamic mass imbalance torques, variation of moment of inertia according to elevation angle, friction torque related to vehicle motion, equivalent disturbance torque due to antenna roll motion, etc. were analyzed. As a robust stabilization control, rate feedback with sliding mode control and position feedback with proportional+integral control was suggested. To compensate antenna roll motion, a supplementary roll rate feed forward control was included beside of the feedback control loop. The feasibility of the analysis and the proposed control design were verified along with some simulation results.

• Journal of Mechanical Science and Technology
• /
• v.19 no.12
• /
• pp.2187-2196
• /
• 2005

In this paper, the stiffness and the mass matrices for the in-plane motion of a thin circular beam element are derived respectively from the strain energy and the kinetic energy by using the natural shape functions of the exact in-plane displacements which are obtained from an integration of the differential equations of a thin circular beam element in static equilibrium. The matrices are formulated in the local polar coordinate system and in the global Cartesian coordinate system with the effects of shear deformation and rotary inertia. Some numerical examples are performed to verify the element formulation and its analysis capability. The comparison of the FEM results with the theoretical ones shows that the element can describe quite efficiently and accurately the in-plane motion of thin circular beams. The stiffness and the mass matrices with respect to the coefficient vector of shape functions are presented in appendix to be utilized directly in applications without any numerical integration for their formulation.