• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.57-62
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• 2003

This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

• Journal of Microbiology and Biotechnology
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• 제17권2호
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• pp.297-304
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• 2007

The effect of yeast propagated at different aeration conditions on yeast physiology, fermentation ability, and beer quality was investigated using three strains of Saccharomyces cerevisiae. It was shown that yeast cells grown under continuous aeration conditions during propagation were almost two times higher as compared with discontinuous aeration conditions. The maximum of cell growth of all samples reached between 36 hand 48 h. The concentration of trehalose was increased under continuous aerated yeasts, whereas glycogen was decreased. It was also observed that the concentration of glycogen and trehalose in yeast cells had no direct effect on subsequent fermentation ability. The effect of yeast propagated under different aeration conditions on subsequent fermentation ability was different from yeast strains, in which the influence will be most pronounced at the first fermentation. Later, the yeasts might regain its original characteristics in the following fermentations. Generally, continuously propagated yeast had a positive effect on beer quality in subsequent fermentation. Hence, the concentration of aroma compounds obtained with yeast propagated under 6 1/h for 48 h aeration was lower than those grown under other aeration conditions in the bottom yeasts; in particular, the amounts of phenylethyl alcohol, ester, and fatty acids were decreased.

• 한국IT서비스학회지
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• 제11권4호
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• pp.87-105
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• 2012

The purpose of this case study is to demonstrate the effectiveness of the disruptive innovation strategy based on the Resources Process Values(RPV) theory for a successful firm. Disruptive innovations seemed not initially perform well enough to be sold or used successfully in markets. The products and services used disruptive technologies have not been as effective as those used in the established markets. However, they have other attributes such as simplicity, convenience, and low cost, which appeal to a new, small and initially unattractive set in new or low-end applications. The Hyundai Heavy Industries Co.(HHI) performed the Jubail Industrial Harbour Project(JIHP), which built the Open Sea Tanker Terminal(OSTT) in Saudi Arabia, using the disruptive innovation strategy in order to lower the manufacturing cost of the offshore jacket and to complete the project successfully. The HHI developed the design and drawing systems to manufacture the jacket and also developed the HYundai Jacket Analysis System(HYJAS) software to use the structural analysis against stresses from rolling and pitching of the barge while transporting the jacket by sea.

• 한국정밀공학회지
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• 제25권6호
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• pp.134-142
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• 2008

In this paper, we propose a precise linear motion stage supported by magnetically preloaded air bearings. The eight aerostatic bearings with rectangular carbon porous pads were located only one side of vertical direction under the platen where four bearings are in both sides of horizontal direction as wrap-around-design, and this gives simpler configuration than which constrained by air bearings for all direction. Each of the magnetic actuators has a permanent magnet generating static magnetic flux far required preload and a coil to perturb the magnetic farce resulting adjustment of air- bearing clearance. The characteristics of porous aerostatic bearing are analyzed by numerical analysis, and analytic magnetic circuit model is driven for magnetic actuator to calculate preload and variation of force due to current. A 1-axis linear stage motorized with a coreless linear motor and a linear encoder was designed and built to verify this design concept. The load capacity, stiffness and preload force were examined and compared with analysis. With the active magnetic preloading actuators controlled with DSP board and PWM power amplifiers, the active on-line adjusting tests about the vertical, pitching and rolling motion were performed. It was shown that motion control far three DOF motions were linear and independent after calibration of the control gains.

• 한국정밀공학회지
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• 제22권5호
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• pp.63-71
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• 2005

When an almost flat surface under test is measured by an interferometer, the measurement result is largely influenced by systematic errors that include geometrical errors of a reference flat surface. To determine the systematic errors of the interferometer by the conventional method that is called the three flat method, we must take the reference flat surface out from the interferometer and measure it. Because of difficulties to set the reference flat surface to the interferometer exactly and quickly, this method is not practical. On the other hand, the method that measures a surface under test with some shifts in the direction being perpendicular to the optical axis of the interferometer is studied. However, the parasitic pitching, rolling and up-down movement caused by the above shifts brings serious error to the measurement result, and the algorithm by which the influences can be eliminated is not still established. In this paper, we propose the self-calibration algorithm for determining the systematic errors that include geometrical errors of a reference flat surface by several rotation shifts and a linear shift of general surface under test, and verify by a numerical experiment that this algorithm is useful for determining the systematic errors.

• 한국항해항만학회지
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• 제32권10호
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• pp.759-764
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• 2008

활주형선이 수면 위를 활주하여 고속이 가능하기 위해서는 특별하게 설계되어 진다. 대부분의 활주형선은 충격하중을 줄이고 황요, 종요 등의 운동성능을 개선시키기 위하여 스프레이 스트립을 설치하며, 고속에서는 파형개선과 양력발생으로 스프레이저항과 마찰저항이 감소되는 것으로 알려져 있다. 이에, 본 논문에서는 모형시험을 통하여 스프레이 스트립의 부착 유무에 따른 고속 활주형선의 저항특성을 비교, 분석하였으며, 시험결과, 스프레이 스트립 부착 고속 활주형선이 미 부착 선형에 비해서 $3.0{\sim}5.0%$의 저항감소 효과를 확인할 수 있었다.

• Wind and Structures
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• 제27권5호
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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.

• International Journal of Naval Architecture and Ocean Engineering
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• 제3권3호
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• pp.174-180
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• 2011

This paper shows added mass and inertia can be acquired from the pure heaving motion and pure pitching motion respectively. A Vertical Planar Motion Mechanism (VPMM) test for the spheroid-type Unmanned Underwater Vehicle (UUV) was compared with a theoretical calculation and Computational Fluid Dynamics (CFD) analysis in this paper. The VPMM test has been carried out at a towing tank with specially manufactured equipment. The linear equations of motion on the vertical plane were considered for theoretical calculation, and CFD results were obtained by commercial CFD package. The VPMM test results show good agreement with theoretical calculations and the CFD results, so that the applicability of the VPMM equipment for an underwater vehicle can be verified with a sufficient accuracy.

• 대한임베디드공학회논문지
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• 제13권6호
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• pp.297-303
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• 2018

Recently, the tasks assigned to surface ship are becoming diverse and important. In this trend, shipboard directional pedestals are widely used for surveillance and electronic warfare because ships are always under angular motion such as rolling, pitching and yawing. To estimate the performance of pedestal, the motion responses of vessel as well as mechanical characteristics of pedestal should be considered. In this study, both the motion responses of vessel which the pedestal will be mounted and the behavior of 3-axis pedestal are considered. Numerical analysis based on potential theory is used to obtained motion characteristics of vessel and then 6-DOF motions of vessel are simulated under operational condition. 1st-order time delay model and LQR control algorithm are used for modeling of pedestal drive model and control model, respectively. By using coordinate transform, the angular motions which the pedestal should compensate are calculated from the vessel's angular motion. Through these M&S methodologies, time history of pedestal behavior and maximum angular error of each pedestal axis are obtained. Overall M&S results show that 3-axis pedestal compensate the angular motion induced by vessel, efficiently.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.617-635
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• 2020

The purpose of this study is to discuss how to improve the maneuverability of lifting and diving for underwater vehicle's vertical motion. Therefore, to solve these problems, applied the 3-D numerical simulation, Taguchi's Design of Experiment (DOE), and intelligent parameter design methods, etc. We planned four steps as follows: firstly, we applied the 2-D flow simulation with NACA series, and then through the Taguchi's dynamic method to analyze the sensitivity (β). Secondly, take the data of pitching torque and total resistance from the Taguchi orthogonal array (L9), the ignal-to-noise ratio (SNR), and analysis each factorial contribution by ANOVA. Thirdly, used Radial Basis Function Network (RBFN) method to train the non-linear meta-modeling and found out the best factorial combination by Particle Swarm Optimization (PSO) and Weighted Percentage Reduction of Quality Loss (WPRQL). Finally, the application of the above methods gives the global optimum for multi-quality characteristics and the robust design configuration, including L/D is 9.4:1, the foreplane on the hull (Bow-2), and position of the sail is 0.25 Ls from the bow. The result shows that the total quality is improved by 86.03% in comparison with the original design.