• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.25 no.6
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• pp.443-456
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• 1992

For a linear double shelf bottom topography as in the Yellow Sea, the dispersion relation of coastally trapped waves is derived for the general case Including high-frequency and short waves and for the case of low-frequency and long waves. With linear bottom topography, the governing equation is Bessel's equation for the latter case but Hummer's equation for the former case. Hypergeometric Functions, which are the solutions of Hummer's equation, are derived and converted to various special functions for the limiting cases. On a double shelf topography, the divergence effects of horizontal flow are important for the wave dynamics, irrespective of cross-shelf dimensions, while on a single shelf they are usually neglected when the cross-shelf dimension is much smaller than the Rossby deformation radius. The divergence effect allows the existence of Kelvin wave and reduces the phase speeds of continental shelf waves. Finally, the frictionless eigenfunctions are proved to be orthogonal.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.379-384
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• 2013

For effective ship management in VTS(Vessel Traffic Service), it needs to assess the external force acting on ship. Big data in maritime traffic can be roughly categorized into two groups. One is the traffic information including ship's particulars. The other is the external force information e.g., wind, sea wave, tidal current. This paper proposes the method to assess the external force acting on ship using big data in maritime traffic. To approach Big data in maritime traffic, we propose the Waterway External Force Code(WEF code) which consist of wind, wave, tidal and current information, Speed Over the Water(SOW) of each ship, weather information. As a results, the external force acting a navigating ship is estimated.

• Journal of Navigation and Port Research
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• v.34 no.6
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• pp.447-452
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• 2010

A very good seakeeping vessel is able to operate effectively even in high sea states and also the passengers and the cargos are ensured in good conditions. The motions of a high speed boats are highly influenced by speed and dynamic forces even in encounter frequencies so that the assessment of seakeeping ability of the design craft in an early stage needs to be calculated for all three motions and for all ralative wave headings. In this paper, it concludes that RAO and RMS values of the catamaran's 3 motion are calculated according as the variation of Beafort scales and ship's speed. The ship motion response of the catamaran based on the RAO and RMS by encounter angles and speed was calculated.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.3 no.1
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• pp.13-24
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• 1983

A mathematical model for the two-dimensional unsteady flow was developed by introducing Abbott's implicit finite difference operator and double sweep algorithm, which could be applied to simulate the respose of a harbor against the intrusion of long waves through the entrance connected to open sea. In order to improve its accuracy corresponding to the field phenomena, bottom resistance, Coriolis force, wind effect terms were included and wave direction and radiating effect was considered. The result of seiche test was always stable and the amplitude was accurate. Some phase shift was occured, but it could be reduced by using small values of Courant number and many points per a wave length as well. A comparision with the Ippen and Goda's theoritical and hydraulic experimental works was fulfilled.

• Journal of the Korean Society for Marine Environment & Energy
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• v.19 no.2
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• pp.159-164
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• 2016

It is one of the important processes to predict the resistance of the towed ship when towing a disabled ship on the sea. Besides the basic resistance of hull itself, there are various added resistance, especially the added resistance due to waves can be considered one of the biggest component. In this paper, the algorithm which predict the added resistance due to waves of a disabled ship by theoretical analysis method of ISO 15016 standard was established, and realized as a computer program. The calculated result for an example ship was compared with existing standard one, and it is considered that this algorithm and computer program are appropriate to use for predicting the resistance and towing force of the disabled ship actually.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.4 no.1
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• pp.18-24
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• 1999

The satellite image acquired by RADARSAT SAR on August 15, 1996 reveals internal waves in north coastal waters of Cheju Island. It is indicated from the image data, the tidal elevation data, and the bottom topography data, the internal waves seem to be generated by interaction between shallow bottom and tidal currents travelling in the stratified water in the summer time during the tidal changeovers from ebb to flood. The internal waves generated in such condition show patterns of trains of solitons. Probable amplitude of observed solitons is calculated using estimation of the soliton wave length from SAR image data and K-dV equation. Detection of the internal waves is very significant not only to military strategist for underwater maneuvers such as operation of submarines, but also to physical and biological oceanographers. Temporal and spatial variation of the internal waves are needed to be measured by simultaneous in-situ field study together with SAR to examine the nature of these internal waves.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.48 no.4
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• pp.310-321
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• 2012

There are many studies of the biodegradable net for fishing to prevent marine pollution in Korea and the snow crab gill nets is developed effectively. Recently, the biodegradable gill net for fishes is being developed. This study is the experiment of the catch characteristics for the biodegradable flounder gill net. The 8 experiments were carried out using the nylon gill net and the biodegradable gill net in from August to October, 2011 in the southern East Sea. The results obtained from the above approaches are summarized as follows; A total of 16 species was caught with most dominant species of Cleisthenes pinetorum followed by Liparis tanakai, Glyptocephalus stelleri, Buccinum striatissimum and Dasycottus setiger. A total of catch of the nylon net was 342,885g and that of the biodegradable net was 236,857g. Thus catch of the nylon net was 1.45 times more than that of the biodegradable net. The length composition of Cleisthenes pinetorum, caught by the biodegradable net was very similar to that of nylon. As a result of analysis on the effect of submerged time, small fish escaped more easily than large fish as the submerged time is getting longer. And catches of the biodegradable net was less than the nylon net's as higher as wave height. Wave height was more influential factor for fishing capacity than submerged time based on the results of a comparison between catch difference of two kinds of gill nets and catch characteristics.

• Atmosphere
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• v.16 no.2
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• pp.67-83
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• 2006

The statistical analysis for the springtime windstorm in Korea shows that Yeongdong region has the highest occurrence frequency during recent 10 years. The objective of this study is to find possible mechanisms for the downslope windstorm formation in the Yeongdong region by using a mesoscale numerical model, WRF. Dynamical process, wave breaking (hereafter WB), is qualitatively investigated as the candidate mechanism for a windstorm event occurred in 5 April, 2005. WB is developed in upper troposphere downstream, since stable air is lifted by the Taebaek mountain. This process can cause and maintain the severe downslope windstorm by drawing the upper flow down to the surface. And the intensified downslope wind leads the hydraulic jump (hereafter HJ) in downstream region. Froude numbers at Chuncheon (upslope side), Seorak Mountain (crest), Yangyang (lee side), and the East Sea (distant downstream position) are estimated by about 0.4, 1.0, 1.6, and 0.6, respectively. This result implies that the accelerated and supercritical (Fr>1) flow adjusts to the ambient subcritical (Fr<1) conditions in the turbulent HJ. In addition, we find the formation of upstream inversion near top level of the mountain cause the intensification of HJ. Experiments to examine the orographic effect on the mechanisms suggest that the magnitudes of WB and HJ are larger in the experiment of higher topography, but there is no significant difference of windstorm magnitude among the experiments. Another important result from these sensitivity experiments is that the intensity of downslope windstorm strongly depends on the magnitude of upper (2~4 km) wind in upstream side.

• Journal of Ocean Engineering and Technology
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• v.29 no.3
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• pp.270-282
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• 2015

A submerged body moving near the free surface needs to maintain its attitude and position to accomplish missions. It is necessary to validate the performance of a designed controller before a sea trial. The hydrodynamic coefficients of maneuvering are generally obtained by experiments or computational fluid dynamics, but these coefficients have uncertainty. Environmental loads such as the wave exciting force and suction force act on the submerged body when it moves near the free surface. Thus, a controller for the submerged body should be robust to parameter uncertainty and environmental loads. In this paper, the six-degree-of-freedom equations of motions for the submerged body are constructed. The suction force is calculated using the double Rankine body method. An adaptive control method based on an artificial neural network and proportional-integral-derivative control are used for the depth controller. Simulations are performed under various depth and speed conditions, and the results show the effectiveness of the designed controller.