• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1926-1930
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• 2004

We suggest a turning gait planning of a quadruped walking robot with an articulated spine. Robot developer has tried to implement a gait more similar to that of natural animals with high stability margin. Therefore, so many types of walking robot with reasonable gait have been developed. But there is a big difference with a natural animal walking motion. A key point is the fact that natural animals use their waist-oint(articulated spine) to walk. For example, a crocodile which has short legs relative to a long body uses their waist to walk more quickly and to turn more effectively. The other animals such as tiger, dog and so forth, also use their waist. Therefore, this paper proposes discontinuous turning gait planning for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. Turning gait is very important as same as straight gait. All animals need a turning gait to avoid obstacle or to change walking direction. Turning gait has mainly two types of gaits; circular gait and spinning gait. We apply articulated spine to above two gaits, which shows the majority of an articulated spine more effectively. Firstly, we describe a kinematic relation of a waist-joint, the hip, and the center of gravity of body, and then apply a spinning gait. Next, we apply a waist-joint to a circular gait. We compare a gait stability margin with that of a conventional single rigid body walking robot. Finally, we show the validity of a proposed gait with simulation.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• 제53권3호
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• pp.276-285
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• 2017

The research vessel NARA equipped with an azimuth thruster system was built in 2015. There are few vessels with this propulsion system in Korea. This vessel has two modes such as the normal for maneuvering and the power for investigation, and the other two modes as one axis and two axes on the operating. This type of vessels does not seem to have a clear grasp of the maneuvering character in comparison with the vessel with a conventional propulsion system. So the authors carried out the sea test for the turning, the zigzag and the inclination, and the results are as follows. In turning test, the case of using the two axes mode is much better than the case of using the one axis mode for the elements of turning, such as advance, transfer, tactical diameter and final diameter, but turning hard over the rudder in full speed is very vulnerable to capsize in both modes. In zigzag test, the yaw quicking responsibility index, T is very large excessively, which means a bad counter maneuvering ability, so an operator has to keep in mind that in turning operation. If necessary to avoid collision at head on situation, it may be a more effective method to use the crash astern stop than the turning according to the conditions and circumstances for the shortest stopping distance is very short.

• PNF and Movement
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• 제9권1호
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• pp.65-73
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• 2011

Background : This study was to investigate effect of hot and cold water for the hand dexterity. Methods : A total of 37 subjects having hemiplegia(men=6, women=11) and normal(men=10, women=10) were participated in this study. After both hands was soaked in the small tube for 1 minute, we measured 'making dots in circles(BOTMP)', 'lifting small objects(JHFT)', 'disk turning(MMDT)' test. Results : In the case of normal's dominant hand, there were statistically significant differences in all tests after soaked in the hot water but there were statistically significant differences in 'disk turning' test after soaked in the cold water. In the case of hemiplegia's unaffected hand, there were statistically significant differences in 'disk turning' test after soaked in the hot water but there were statistically significant differences in 'making dots in circles', 'disk turning' test after soaked in the cold water. In the case of hemiplegia's affected hand, there were statistically significant differences in 'lifting small objects', 'disk turning' test after soaked in the hot water but there were statistically significant differences in 'making dots in circles', 'disk turning' test after soaked in the cold water. Conclusion : The hot and cold water were affected in the hand dexterity. Especially, in the case of both normal and hemiplegia, there were statistically significant differences in 'disk turning' test after soaked in the cold and hot water. Therefore, We were founded that affected in gross movement than fine movement.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• 제31권1호
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• pp.84-92
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• 1995

The methods by turning circle test and maneuvering indices have been used to study and evaluate the maneuverability of a ship. However recently many studies utilizing the GPS are made on the measurement of the turning circle and in the fishery and hydrographic survey. In this paper, the author carried out the turning circle test using the differential GPS and dumb card together, and compared the data measured by them and analyzed the accuracies of them to obtain the utility basic ones on the measurement of the turning circle by the DGPS. The main results area s follows : 1) To check the accuracies of the GPS, the circling experiments of 50m radius by the DGPS were made on the ground. The accuracies of turning circle measured by the DGPS were found to be very high as the errors of 1.5m. 2) the turning circle by the DGPS could be measured very accurately, by the seed, rudder angle, starboard and port respectively. 3) The turning circle measured by the dumb card was found to be measured accurately as much as the DGPS, when using large rudder angle, the turning circle was large, the turning circle by the dumb car could not be measured accurately on account of large error of bearing of compass. 4) The tactical diameters by the DGPS in case of the rudder angle 35。~5。, were found to be 2.6。15.0 times the Lpp of S.T HAELIM-3 at her slow speed 2.8~16.6 times her Lpp at her half speed, 3.1~17.4 times her Lpp at her full speed. The tactical diameter by the dumb card was found to be 2.4~9.5 times, 2.6~9.6 times, 3.2~12.2 times her Lpp respectively, in the above case and speed.

• Journal of the Korean Society of Marine Environment & Safety
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• 제24권5호
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• pp.497-503
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• 2018

Passenger ships and training ships have a common feature in that they serve many passengers. Thus, safe navigation is very important. During normal sailing, a ship may turn using various types of steering, including maneuvers to avoid collisions with dangerous target. When a ship turns, a heeling angle occurs. If trouble arises during sailing, a dangerous heeling angle may result or a capsizing accident. In this study, the heeling angle during turning was measured through experimentation with two training ships similar to passenger ships. These findings were compared with theoretical formulas for heeling angle when turning. We confirmed that the limit of the maximum heeling angle estimation using heeling angle formula when turning presented in IMO stability criteria. In addition, it was confirmed that the maximum estimated heeling angle can be reached by applying the result calculated in the theoretical formula 1.4 times when turning right and 1.1 times when turning left to reflect sailing speed when of rudder hard over. It is expected that this study will provide basis data for establishing safe operation standards for the prevention of dangerous heeling angles when turning.

• Journal of Fisheries and Marine Sciences Education
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• 제21권1호
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• pp.59-67
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• 2009

It is necessary for navigator to understand sufficiently maneuverabilities based on experiences and the data which were gotten from several tests of the ship when he maneuver his vessel. By the way most navigators used to rely on his experiences or feelings only maneuvering ship. But when he encounters situations he did not experience before he may be in difficulties. So navigator must get both experiences and data based on experimental results. In this paper author performs several tests such as turning test, Zig-zag test and spiral test to provide informations of maneuverabilities for navigators. The obtained results are as follows: There occurs almost no difference in size of the turning circle by the changes of ship's speeds. The scale of the turning circle was decreased exponentially when the rudder angle was increased. The maneuverabilities is better turning to starboard side than to port side. Maneuverabilities are more effective when the rudder is used to small angle than to large angle. As a result of spiral test course stability was comparatively seemed to be good.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• 제51권1호
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• pp.61-70
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• 2015

In an attempt to improve the maneuvering character of hull form renovated tuna purse seiner. A renovation was carried out on the 3 tuna purse seiner fishing vessel. To grasp the progress of maneuvering and resistance on ship B (730 ton class), new bulbous bow was only attached. The ship A (740 ton class) and C (600 ton class) were modified for new bulbous bow, enlarged slipway and rudder. And then the zigzag and the turning test were carried out. According to the turning test, the advance and the tactical diameter were improved very much for the modified ship. The sea trial was carried out for the original and modified ship A. It is showed that the results of sea trial corresponded with that of the tank test on the whole. In the result of the zigzag test on ship B, the turning ability was improved very much, but the yaw checking ability was deteriorated in just some degree. In the result of the zigzag test on ship C, the turning ability and yaw checking ability were remarkably improved. Ship C was greatly improved among the three ships for the maneuvering character of modified hull form.

• Journal of the Korean Society for Precision Engineering
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• 제34권3호
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• pp.185-189
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• 2017

Recently, titanium alloys have been widely used in aerospace, biomedical engineering, and military industries due to their high strength to weight ratio and corrosion resistance. However, it is well known that titanium alloys are difficult-to-cut materials because of a poor machinability characteristic caused by low thermal conductivity, chemical reactivity with all tool materials at high temperature, and high hardness. To improve the machinability of titanium alloys, cryogenic cooling with LN2 (Liquid Nitrogen) and nanofluid MQL (Minimum Quantity Lubrication) technologies have been studied while turning a Ti-6Al-4V alloy. For the analysis of turning process characteristics, the cutting force, the coefficient of friction, and the surface roughness are measured and analyzed according to varying lubrication and cooling conditions. The experimental results show that combined cryogenic cooling and nanofluid MQL significantly reduces the cutting forces, coefficients of friction and surface roughness when compared to wet condition during the turning process of Ti-6Al-4V.

• Journal of Fisheries and Marine Sciences Education
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• 제27권6호
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• pp.1865-1871
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• 2015

Ship's trim is the one of the most important factor for safety at the sea. Turning circle test and Z-test were carried out to find the effect of ship's trim and draft changes. The results are as follows. 1. If the ship's draft and trim became large, turning circle would be wide. 2. If the ship's draft and trim became large, ship's drift angle would be small. Small drift angle made wide turning circle. 3. Trim by the head made slow ship's final speed when turning circle test. 4. By Z-test, the deeper draft and trim by the stern made small OSA. Small OSA means strong ship's stability. 5. Totally 2nd OSA is smaller than 1st OSA on Z-test. 6. There were small differences of 2nd OSA in trim by the stern, but there were large OSA in trim by the head. 7. The larger trim by the stern, the smaller OSW. The small OSW means better ship's stability and maneuverability.

• The KSFM Journal of Fluid Machinery
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• 제14권1호
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• pp.66-76
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• 2011

The heat transfer and pressure loss characteristics of a rotating two-pass channel with a guide vane in the turning region have been studied using three-dimensional Reynolds-averaged Navier-Stokes (RANS) analysis, and the shape of the guide vane has been optimized using surrogate modeling optimization technique. For the optimization, thickness, location and angle of the guide vanes have been selected as design variables. The objective function has been defined as a linear combination of the heat transfer and the friction loss related terms with a weighting factor. Latin hypercube sampling has been applied to determine the design points as design of experiments. A weighted-average surrogate model, PBA has been used as the surrogate model. The guide vane in the turning region does not influence the heat transfer in the first passage upstream of the turning region, but enhances largely the heat transfer in the turning region and the second passage. In an example of the optimization, the objective function has been increased by 13.6%.