• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.1
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• pp.115-120
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• 2011

The dynamic responses of a 5 MW wind turbine lifted by a floating crane with two elastic booms are analyzed. Dynamic equations of motions of a multibody system that consists of a floating crane, two elastic booms, and a wind turbine are derived. The six-degree-of-freedom (DOF) motions for the floating crane and the wind turbine are considered in the equations of motions. The hydrostatic force, the hydrodynamic force due to a regular wave, the mooring force, the wire rope force, and the gravitational force are considered as external forces. By solving the equations numerically, the dynamic responses of cargo are simulated. The simulation results are compared with those in the case of one elastic boom. Finally, the dynamic responses of the wind turbine lifted by the floating crane are analyzed under regular wave condition.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.400-410
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• 2019

In this study, the numerical code for the 3D nonlinear dynamic analysis of an SLWR (Steel Lazy Wave Riser) was developed using the lumped mass line model in a FORTRAN environment. Because the lumped mass line model is an explicit method, there is no matrix operation. Thus, the numerical algorithm is simple and fast. In the lumped mass line model, the equations of motion for the riser were derived by applying the various forces acting on each node of the line. The applied forces at the node of the riser consisted of the tension, shear force due to the bending moment, gravitational force, buoyancy force, riser/ground contact force, and hydrodynamic force based on the Morison equation. Time integration was carried out using a Runge-Kutta fourth-order method, which is known to be stable and accurate. To validate the accuracy of the developed numerical code, simulations using the commercial software OrcaFlex were carried out simultaneously and compared with the results of the developed numerical code. To understand the nonlinear dynamic characteristics of an SLWR, dynamic simulations of SLWRs excited at the hang-off point and of SLWRs in regular waves were carried out. From the results of these dynamic simulations, the displacements at the maximum bending moments at important points of the design, like the hang-off point, sagging point, hogging points, and touch-down point, were observed and analyzed.

• Journal of The Korean Astronomical Society
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• v.40 no.4
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• pp.179-182
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• 2007

Dynamical friction plays an important role in reducing angular momenta of objects in orbital motions. While astronomical objects usually follow curvilinear orbits, most previous studies focused on the linear-trajectory cases. Here, we present the gravitational wake due to, and dynamical friction on, a perturber moving on a circular orbit in a uniform gaseous medium using a semi-analytic method. The circular orbit causes the density wakes to bend along the orbit into asymmetric configurations, resulting in the drag forces in both opposite (azimuthal) and lateral (radial) directions to the perturber motion, although the latter does not contribute to the orbital decay much. For a subsonic perturber, the bending of a wake is only modest and the resulting drag force in the opposite direction is remarkably similar to the linear-trajectory counterpart. On the other hand, a supersonic perturber is able to overtake its own wake, possibly multiple times, creating a high-density trailing tail. Despite the dramatic changes in the wake morphologies, the azimuthal drag force is in surprisingly good agreement with the formulae of Ostriker for the linear-trajectory cases, provided $V_pt=2R_p,\;where\;V_p\;and\;R_p$ are the velocity and orbital radius of the perturber, respectively.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.511-516
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• 2016

Guaranteeing the safety of human workers around robots has become an important issue with the increasing demand for human-robot collaboration in industrial production lines. This study proposes a robot manipulator equipped with a counterbalancing mechanism that reduces the power of actuators required to drive the robot, thus keeping a human worker safer in a human-robot collaborative environment. A counterbalancing torque that exactly cancels out the gravitational torque in the proposed mechanism is generated by restoring the force of a spring in the counterbalancing mechanism. A prototype design and experimental results are presented to verify the effectiveness of the proposed method.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.3 no.2
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• pp.117-124
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• 1993

It was found that the basic principle of continuous crystal growth method was following as; the powder supplied from the feeding system is molten in the graphite crucible under the ambient gas. After forming the molten zone in the lower part of the crucible, the seed crystal is deeped into the melt and pulled down with the rotation so that the melt crystallized from the seed. When the lowering rate, rotation rate, feeding rate and temperature are correct, the single crystal can grow. The critical melt level, the feeding rate, the growth rate, the change of the shape of molten zone by the graphite susceptor and crucible, the position of work coil, the balance between the gravitational force of melt and the centrifugal force originated from the rotation of seed which are the variables of the crystal growth and the sintering phenomenon of melt surface were researched.

• International Journal of Fluid Machinery and Systems
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• v.3 no.1
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• pp.1-10
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• 2010

The present study is a fundamental approach to develop the measuring technology for minute fluctuating pressures on the three-dimensional blade surfaces of the fan which rotates with an arbitrary rotation-axis direction. In this situation, we are required to correct the centrifugal-force effect, the gravitational-force effect and the other leading-error effects for accurate measurements of the minute pressures. The working fluid is air. A pressure transducer rotating with an arbitrary attitude is closely sealed by a twofold shroud system. The rotational motion with an arbitrary attitude is produced by fixing the pressure transducer to the cantilever which is connected to a motor-driven disc of 500mm in diameter and 5mm in thickness. As a result, we have quantitatively determined main governing effects upon the non-effective component of the pressure-transducer signal.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.3
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• pp.309-314
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• 2012

Flame flickering occurs mainly because of the buoyancy force for pool fires under ambient air. The cup-burner flame was used for experimental investigation of the effect of the oxidizer velocity on the gravitational instability. The results showed that the flickering frequency decreased with increasing oxidizer velocity. The frequency-buoyancy relation with nondimensional variables coincided with that of the buoyant flume and pool fires when the characteristic velocity was defined as the difference between the fuel and oxidizer velocities, which implies that the origin of the gravitational instability is the Kelvin-Helmholtz instability in the shear layer. The effect of the oxidizer composition on the instability was also examined through nitrogen dilution in the oxidizer stream. As the concentration of inert gas increased, the length of the blue flame increased and lift-off behavior was observed. The oscillation frequency was independent of the dilution ratio, but was related to the local flame structure.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.541-546
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• 2005

Tracking control of an automatic pipe cutting robot (APCROMB) is studied. Using magnetic force APCROMB, which is designed and developed in Kyung Hee University, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROMB varies as it rotates around the cylindrical pipe laid in the gravitational field. To maintain a constant velocity and consistent cutting performance against the varying gravitational effect, the authors adopt a multi-rate repetitive learning controller (MRLC), which learns the required effort to cancel the repetitive tracking errors caused by nonlinear effect. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROMB and the pipe also cause degradation in the cutting process. In order to identify those nonlinear disturbances the position estimation based on the encoder attached at the motor is not good enough. To identify the absolute angular position of APCROMB the authors propose the angular position estimation based on the signals from a MEMS-type two-axis accelerometer mounted on APCROMB. The tracking performances of APCROMB with a MRLC using the encoder-based position estimation is experimentally measured and results are shown. Also the difference between the encoder-based angular displacement measurement and the accelerometerbased angular displacement measurement is included.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.6
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• pp.217-222
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• 2017

Any object located in the earth's gravitational field experiences a force in the direction of the center of the earth. In order to describe the motion of objects in the field, the solutions to a system of simultaneous vector kinematic equations need to be obtained. In the analysis of freely-falling objects, the reference direction +y is usually defined to be the downward direction. In the analysis of the motion of objects thrown upward, the reference direction +y is usually defined to be the upward direction. In the analysis of the motion of objects thrown downward, the reference direction +y is usually defined to be the downward direction. In this paper, we show that the choice of reference axis in either upward or direction gives the same results by adopting a scalar product of two vectors in solving the vector kinematic equations. It is rare to find other examples of using a scalar product of two vectors in solving vector kinematic equations describing the motion of objects. An application of this study is that we can arbitrarily choose the reference direction for objects moving in a horizontal direction, including projectile motions.

• Journal of the Korean Mathematical Society
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• v.37 no.5
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• pp.779-791
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• 2000

The nonlinear stage of the evolution of free boundary between a light fluid and a heavy fluid driven by an external force is studied by a potential flow model with a source singlarity. The potential flow model is applied to a bubble and spije evolution for constantly accelerated interface (Rayleigh-Taylor instability) and impulsively accelerated interface (Richtmyer-Meshkow instability). The numerical results of the model show that, in constantly accelerated intergace, bubble grows with constant velocity and the spike falls with gravitational acceleration at later times, while the velocity of the bubble in impulsively accelerated interface decay to zero asymp flow model for the bubble and spike for constantly accelerated interface and impulsively accelerated interface.