• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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• pp.29-34
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• 2004

Numerical and experimental studies on pipeline laying for intake Deep Ocean Water are carried out. In the numerical study, an implicit finite difference algorithm is employed for three-dimensional pipe equations. Fluid non-linearity and bending stiffness are considered and solved by Newton-Raphson iteration. Seabed is modeled as elastic foundation with linear spring and damper. Top tension and general configuration of pipeline at a depth are predicted. It is found that control for tension to prevent being large curvature of pipeline is needed on th steep seabed and, it should be considered 23.5 ton of tension at a top of pipe on the process of pipeline laying at 400m of water depth The largest top tension of pipe on condition of the beam sea during pipe laying is shown from the experiment. The results of this study can be contributed to the design of pipeline laying for upwelling deep ocean water.

• Journal of Advanced Research in Ocean Engineering
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• v.1 no.1
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• pp.55-62
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• 2015

Floating structure such as tension leg platform, semi-submersible and spar are widely used in field of oil exploration and renewable energy system. All of these structures have the base cylinder support structure which have effective rule in overall dynamic of response. So the accurate and reliable modeling is needed for optimum design and understanding the physical background of these systems. The aim of this article is an analytical discussion on stochastic modeling of floating cylinder based support structure but an applicable one. Due to this a mathematical mass-damper-spring system of a floating cylinder of HAWAII WTG offshore wind as an applicable and innovative system is adopted to model a coupled degrees using random vibration in analytical way. A fully develop spectrum is adopted to solve the stochastic spectrum analytically by a proper approximation. Some acceptable assumption is adopted. The simplified but analytical and innovative hydrodynamic analysis of this study not only will help researcher to concentrate more physically on hydrodynamic analysis of floating structures but also can be useful for any quick, simplified and closed form analysis of a complicated problem in offshore engineering.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1528-1532
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• 2000

The conventional optics and near field optics are compared numerically in the view points of the spot size and propagation characteristics. The decaying characteristics of near field light require the optics to access the object within several tens of nanometers. Therefore the gap control is one of the main issues in the near field optics area. In this paper the gap control is done by using the shear force of the NF(Near Field) probe and the characteristics are examined. The probe is modeled as a 2'nd order mass-spring-damper system driven by a harmonic force. The primary cause of the decrease in vibration amplitude is due to the damping force - shear force - between the surface and the probe. Using the model, damping constant and resonance frequency of the probe is calculated as a function of probe-sample distance. Detecting the amplitude and phase shift of the NF probe attached to the high Q-factor piezoelectric tuning fork, we can control the position of the NF probe about 0 to 50nm above the sample. The feedback signal to regulate the probe-sample distance can be used independently for surface topography imaging. 3-D view of the shear force image of a testing sample with the period of $1{\mu}m$ will be shown.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.2
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• pp.174-180
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• 2004

Failure of tube bundles due to excessive flow-induced vibrations continues to affect the performance of nuclear power plant Early experimental studies concentrated on rigid structures and later investigators dealt with elastic structures because of their importance in many engineering fields. On the other hand, much less numerical work has been carried out, because of the numerical complexity associated with the problem. Conventional approaches usually decoupled the flow solution from the structural problem. The present numerical study proposes the methodology in analyzing the fluidelastic instability occurring in tube bundles by coupling the Computational fluid Dynamics (C%) with the tube equation of motions. The motion of the structures is modeled by a spring-damper-mass system that allows transnational motion in two directions (a two-degree-of-freedom system). The fluid motion and the cylinder response are solved in an iterative way, so that the interaction between the fluid and the structure can be accounted for property. The aim of the present work is to predict the fluidelstic instability of tube bundles and the associated phenomena, such as the response of the cylinder, the unsteady lift and drag on the cylinder, the vortex shedding frequency.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• Journal of Power System Engineering
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• v.13 no.2
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.

• Journal of Biomedical Engineering Research
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• v.10 no.3
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• pp.269-278
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• 1989

The initial impact at foot strike is produced by a slider type mechanical model, which can be measured using a force platform to evaluate various shoes. The lower extremity and foot motion was filmed by a 16mm high speed movie camera and several points on the rear half of the shoe and those near the trochanter and the lateral epicondyle were digitized to provide the linear and angular positions and velocities during impact. With these observed kinematics, a slider type foot strike simulator composed of guide rail and sliding dummy is designed. The simulator system makes the artificial foot of the dummy with running shoe on it to follow the foot strike motion. The dummy has the relevant mass-spring-damper system modeled after McMahon's. The motion of the model is drived by the gravity force and the generated motion alone with the ground reaction forces are monitored by the same procedures afore mentioned producing the initial foot strike impact similar to the onto observed in human gait.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1998.04a
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• pp.34-39
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• 1998

In order to compute the forces which are transmitted through rubber bushings with a commercial multibody dynamic analysis (MBDA) program, a rubber bushing model is needed. The rubber bushing model of MBDA programs such as DADS or ADAMS is the Voigt model which is simply a parallel spring-viscous damper system, meaning that the damping force of the Voigt model is proportional to the frequency. However, experiments do not necessarily support this proportionality. Alternatively, the viscoelastic characteristics of rubber bushings can be better represented by the complex stiffness. The purpose of this paper is to develop a viscoelastic rubber bushing model for the MBDA programs. Firstly, a methodology is proposed to calculate the complex stiffness of rubber bushings considering static and dynamic load conditions. Secondly, a viscoelastic rubber bushing model developed which uses standard elements provided by DADS. The proposed methods are applied to the rubber bushings of the lower control arms of a rear suspension of a 1994 Ford Taurus model. Then, the forces computed for the rubber bushing model are analyzed and compared with the Voigt model in time and frequency domains.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.3
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• pp.159-169
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• 2004

In this study, integration control of air-cell seat and semi-active suspension is proposed to minimize the road-tyre force which can cause uncomfortable feeling to rider. The proposed integration control with sliding perturbation observer is consisted of air-cell seat control which uses the force generated by air-cell and the sky-hook control. The air-cell seat itself has been modeled as a 1 degree of freedom spring-damper system. The actual characteristics of the air-cell have been analyzed through experiments. In this paper, we introduces a new robust motion control algorithm using partial state feedback for a nonlinear system with modelling uncertainties and external disturbances. The major contribution of this work is the development and design of robust observer for the state and the perturbation. The combination skyhook controller and air-cell controller using the observer improves control performance, because of the robust routine called Sliding Observer Design for Integration Control of Air-Cell Seat and Semi-active Suspension. The simulation results show a high accuracy and a good performance.

• Ocean Systems Engineering
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• v.4 no.1
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• pp.63-82
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• 2014

Declutching control is applied to a hemispherical wave energy converter with direct linear electric Power-Take-Off systems oscillating in heave direction in both regular and irregular waves. The direct linear Power-Take-Off system can be simplified as a mechanical spring and damper system. Time domain model is applied to dynamics of the hemispherical wave energy converter in both regular and irregular waves. And state space model is used to replace the convolution term in time domain equation of the heave oscillation of the converter due to its inconvenience in analyzing the controlled motion of the converters. The declutching control strategy is conducted by optimal command theory based on Pontryagin's maximum principle to gain the controlled optimum sequence of Power-Take-Off forces. The results show that the wave energy converter with declutching control captures more energy than that without control and the former's amplitude and velocity is relatively larger. However, the amplification ratio of the absorbed power by declutching control is only slightly larger than 1. This may indicate that declutching control method may be inapplicable for oscillating wave energy converters with direct linear Power-Take-Off systems in real random sea state, considering the error of prediction of the wave excitation force.