• 한국해양공학회:학술대회논문집
• /
• 한국해양공학회 2003년도 춘계학술대회 논문집
• /
• pp.192-197
• /
• 2003

Initial hull form of 3 G/T and $20{\sim}25$ knots class coastal leisure boat is newly developed. The performances, which are resistance, trim and sinkage, are investigated at high speed circulating water channel (CWC). Wave patterns are observed together to make clear the relation between the resistance performance and the wave characteristics.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제7권3호
• /
• pp.478-489
• /
• 2015

In the present study, a hydrodynamic hull-form optimization algorithm for a container ship was presented in terms of the minimum wave-making resistance. Bell-shaped modification functions were developed to modify the original hull-form and a sequential quadratic programming algorithm was used as an optimizer. The wave-making resistance as an objective function was obtained by the Rankine source panel method in which non-linear free surface conditions and the trim and sinkage of the ship were fully taken into account. Numerical computation was performed to investigate the validity and effectiveness of the proposed hull-form modification algorithm for the container carrier. The computational results were validated by comparing them with the experimental data.

• 한국해양공학회지
• /
• 제28권2호
• /
• pp.152-159
• /
• 2014

KRISO(Korea Research Institute of Ships & Ocean Engineering) designed and manufactured a pilot mining robot called "MineRo" in 2012. MineRo is composed of four track modules. In general, much time and money are needed for deep-sea tests. Therefore, a numerical analysis to predict the dynamic behaviors has to be performed before a deep-sea test. In the numerical analysis, the information about the mining robot and soil properties are the most important factors to analyze the driving performance and dynamic response of MineRo. A terra-mechanics model of extremely cohesive soft soil is implemented in the form of the relationships between the normal pressure and sinkage, and between the shear stress and shear displacement. It is possible to acquire information about MineRo from the CAD model in the design phase. The Wong model is applied to the terra-mechanics model. This model is necessary to acquire many soil coefficients for a numerical analysis. However, in soil testing, the amount of soil property data obtained is limited. Moreover, it is difficult to analyze all of the cases for the many soil coefficients. In this paper, the dynamic behaviors of MineRo are analyzed according to the driving velocity, steering ratio, and variable extremely cohesive soft soil properties using a table of orthogonal arrays. The dynamic responses of MineRo are the turning radius, sinkage, and slip ratio. The relationships between the dynamic responses and variable soil properties are derived for MineRo.

• 한국구조물진단유지관리공학회 논문집
• /
• 제13권6호통권58호
• /
• pp.192-203
• /
• 2009

본 연구는 경부고속철도(대구~부산) 도심통과 노반신설 공사중 기존 부산지하철 1호선 및 부산지하철 2호선 구간에 대한 안정성에 관한 연구로서 현장조사를 실시하여 대상시설물의 외관상태, 품질상태 및 내구성능 등을 평가하고 MIDAS/GTS를 이용한 수치해석을 통해 대상시설물 및 본선터널의 안정성을 검토하는데 그 목적이 있다. 지하수위 하에서 터널이 시공되는 기본 메카니즘과 3차원 유한요소해석 응력-간극수압 연계해석을 수행한 후 라이닝 작용하중, 막장안정성, 지표침하 등 지하수와 터널굴착의 상호관계를 고찰하였다. 수치해석의 결과 1, 2호선의 최대침하, 부등침하, 라이닝응력 등은 허용치 이내이며 손상 정도는 무시할 수 있는 정도의 경미한 것으로 나타나고 있다. 그러나 실제 터널 시공시 막장거동을 최소화하기 위하여 필요시 Pre-Grouting을 시행하여 터널 굴착시 터널내 유출수를 최소화하는 것이 필요할 것으로 판단된다.

• 대한조선학회논문집
• /
• 제37권3호
• /
• pp.21-26
• /
• 2000

연안항로용 선박에 있어서 수심은 선박의 흘수와 속도에 제한을 주는 요소로 작용함으로써, 설계에 있어서 상당히 중요한 요소라 할 수 있다. 본 연구에서는 제한수심에 따른 선박의 저항성능의 변화를 알기 위해, 천수장비를 이용하여 각기 다른 수심에서 선박의 저항 및 트림, 침하를 측정하였다. 천수영향에 대한 기초적 연구단계로서, 본 연구에서는 Series60($C_B=0.6$) 선형을 대상 선형으로 선정하였다. 실험은 기존의 실험 자료와 동일한 수심조건을 주어 그 결과를 비교하였다. 수심조건은 각각 모형선 수선간장의 10, 15, 20, 25% 로 하였다.

• 한국해양공학회지
• /
• 제17권5호
• /
• pp.88-94
• /
• 2003

A series of tests of 5 model ships, selected from a data survey of 10 Gross Tonnage actual fishing boats, were performed in two circulating water channels (Chosun University in Korea and WJFEL in Japan), in order to develop the basic hull form of a 25 knots-class fishing boat. Resistance tests, trim and sinkage measurements and wave pattern observations etc., were included in each I1wdel test, and the model test results were compared and analyzed. The result was as follows: P-4 hull form ship changed into Deep V type bow is the best hull form with good performance, especially with regard to ship's resistance efficiency.

• Journal of Biosystems Engineering
• /
• 제31권2호
• /
• pp.81-87
• /
• 2006

In this study, a mathematical model was suggested to predict the maximum steering torque of a tractor on off-road. The model took into account the characteristics of soil, including the pressure-sinkage and the shearing characteristics as well as the primary design parameters of steering system of the tractor. The efficiency of the developed model was verified via comparison of the maximum steering torque predicted using the model with those measured from steering torque test. The results showed that the predicted maximum steering torques were in good agreement with the measured ones from the steering test on soft soil in which tractor is generally operated. Thus, we concluded that the model developed in this study could be used for prediction of maximum steering torque of a tractor.

• 대한조선학회지
• /
• 제24권3호
• /
• pp.17-24
• /
• 1987

The present paper describes the results of the cooperative experimental study organized by the Resistance Committee of the Korea Towing Tank Conference, which aims to improve model testing technique and accuracy and to self-evaluate their own capabilities. A Series 60, $C_b=0.60$ model was tested at the towing tanks of Korea Institute of Machinery & Metals, Hyundai Maritime Research Institute, Seoul National University, and Inha University. Results for total resistance, wave pattern analysis, wave pattern analysis, wave profile, trim & sinkage and wake measure ments are presented.

• 제어로봇시스템학회논문지
• /
• 제20권1호
• /
• pp.58-69
• /
• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

• Agricultural and Biosystems Engineering
• /
• 제4권1호
• /
• pp.34-38
• /
• 2003

A mathematical model was developed for estimating the mechanical interrelation between characteristics of soil and main design factors of a tracked vehicle, and predicting the tractive performance of the tracked vehicle. Based on the mathematical model, a computer simulation program (TPPMTV) was developed in the study. The model considered the continuous change in tension for the whole track of a tracked vehicle, the analysis of shape and tension of the track segment between sprocket and first roadwheel, and the side thrust on both sides of grouser by the active earth pressure theory in predicting the tractive performance of a tracked vehicle. Also, the model contained not only sinkage depth of the track but the pressure distribution under the track in analyzing the side thrust. The effectiveness of the developed model was verified by performing the draw bar pull tests with a tracked vehicle reconstructed for test in loam soil with moisture content of 18.92％. The predicted drawbar pulls by the model were well matched to the measured ones. Such results implied that the model developed in the study could estimate the drawbar pulls well at various soil conditions, and would be very useful as a simulation tool for designing a tracked vehicle and predicting its tractive performance.