• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Structural Engineering and Mechanics
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• v.28 no.1
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• pp.89-105
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• 2008

The paper presents a study on the effects of soil-structure-interaction (SSI) on the performance of the compliant liquid column damper (CLCD) for the seismic vibration control of short period structures. The frequency-domain formulation for the input-output relation of a flexible-base structure with CLCD has been derived. The superstructure has been modeled as a linear, single degreeof-freedom (SDOF) system. The foundation has been considered to be attached to the underlying soil medium through linear springs and viscous dashpots, the properties of which have been represented by complex valued impedance functions. By using a standard equivalent linearization technique, the nonlinear orifice damping of the CLCD has been replaced by equivalent linear viscous damping. A numerical stochastic study has been carried out to study the functioning of the CLCD for varying degrees of SSI. Comparison of the damper performance when it is tuned to the fixed-base structural frequency and when tuned to the flexible-base structural frequency has been made. The effects of SSI on the optimal value of the orifice damping coefficient of the damper has also been studied. A more convenient approach for designing the damper while considering SSI, by using an established model of a replacement oscillator for the structure-soil system has also been presented. Finally, a simulation study, using a recorded accelerogram, has been carried out on the CLCD performance for the flexible-base structure.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.2
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• pp.174-181
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• 2012

In this paper, the Flow Control Fin(FCF) optimization has been carried out using computational fluid dynamics(CFD) techniques. This study focused on evaluation for the performance of the FCF attached in the stern part of the ship. The main advantage of FCF is to enhance the resistance performance through the lift generation with a forward force component on the foil section, and the propulsive performance by the uniformity of velocity distribution on the propeller plane. This study intended to evaluate these functions and to find optimized FCF form for minimizing viscous resistance and equalizing wake distribution. Four parameters of FCF are used in the study, which were angle and position of FCF, longitudinal location, transverse location, and span length in the optimization process. KRISO 300K VLCC2(KVLCC2) was chosen for an example ship to demonstrate FCF for optimization. The optimization procedure utilized genetic algorithms (GAs), a gradient-based optimizer for the refinement of the solution, and Non-dominated Sorting GA-II(NSGA-II) for Multiobjective Optimization. The results showed that the optimized FCF could enhance the uniformity of wake distribution at the expense of viscous resistance.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.318-328
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• 2018

Disk type underwater gliders are a new type of underwater gliders and they could glide in various directions by adjusting the internal structures, making a turnaround like conventional gliders unnecessary. This characteristic of disk type underwater gliders makes them have great potential application in virtual mooring. Considering dynamic models of conventional underwater gliders could not adequately satisfy the motion characteristic of disk type underwater gliders, a nonlinear dynamic model for the motion simulation of disk type underwater glider is developed in this paper. In the model, the effect of internal masses movement is taken into consideration and a viscous hydrodynamic calculation method satisfying the motion characteristic of disk type underwater gliders is proposed. Through simulating typical motions of a disk type underwater glider, the feasibility of the dynamic model is validated and the disk type underwater glider shows good maneuverability.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2003.10a
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• pp.93-96
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• 2003

Recently, various bulk metallic glasses (BMG's) haying good mechanical and chemical properties were developed. BMG's can easily be deformed in the supercooled liquid region, via viscous flow mechanism. In our previous work, we evaluated the deformation behavior and some other basic properties of Z $r_{41.2}$ $Ti_{13.8}$C $u_{12.5}$N $i_{10}$B $e_{22.5}$ alloy. In this study, we investigated the micro forming of Z $r_{41.2}$ $Ti_{13.8}$C $u_{12.5}$N $i_{10}$B $e_{22.5}$ alloy. The process condition was chosen based on the viscosity data from TMA, and superalloy and Si wafer with micro patterns on the surface were used as forming die. The alloy showed good replication of the patterns. However, some stripe patterns, resembling scratches, appeared on the deformed alloy surface. These scratches can be reduced or eliminated by polishing before forming.ing.ore forming.ing.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.12
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• pp.1716-1723
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• 2003

A stereoscopic PIV(Particle Image Velocimetry) technique was employed to measure the 3 dimensional flow structure of turbulent wake behind a marine propeller with 5 blades. The out-of-plane velocity component was determined using two CCD cameras with the angular displacement configuration. Four hundred instantaneous velocity fields were measured for each of four different blade phases and ensemble averaged to investigate the spatial evolution of the propeller wake in the near-wake region from the trailing edge to one propeller diameter(D) downstream. The phase-averaged velocity fields show the potential wake and the viscous wake developed along the blade surfaces. Tip vortices were generated periodically and the slipstream contraction occurs in the near-wake region. The out-of-plane velocity component and strain rate have large values at the locations of tip and trailing vortices. As the flow goes downstream, the turbulence intensity, the strength of tip vortices and the magnitude of out-of-plane velocity component at trailing vortices are decreased due to viscous dissipation, turbulence diffusion and blade-to-blade interaction.

• 한국전산유체공학회:학술대회논문집
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• 2009.04a
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• pp.239-244
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• 2009

The gridless (or meshfree) methods, such as MPS, SPH, FPM an so forth, are feasible and robust for the problems with moving boundary and/or complicated boundary shapes, because these methods do not need to generate a grid system. In this study, a gridless solver, which is based on the combination of moving least square interpolations on a cloud of points with point collocation for evaluating the derivatives of governing equations, is presented for two-dimensional unsteady incompressible Navier-Stokes problem in the low Reynolds number. A MAC-type algorithm was adopted and the Poission equation for the pressure was solved by successively in the moving least square sense. Some weighing functions were tested in order to investigate the up-winding effect for the convection term. Some typical problems were solved by the presented solver for the validation and the results obtained were compared with analytic solutions and the numerical results by conventional CFD methods, such as FVM.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.3
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• pp.388-397
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• 2010

A two-dimensional time-domain, potential-theory-based fully nonlinear numerical wave tank (NWT) was developed by using boundary element method and the mixed Eulerian-Lagrangian (MEL) approach for free-surface node treatment. The NWT was applied to prediction of primary wave energy conversion efficiency of a bottom-mounted oscillating water column (OWC) wave power device. The nonlinear free-surface condition inside the chamber was specially devised to represent the pneumatic pressure due to airflow velocity and viscous energy loss at the chamber entrance due to wave column motion. The newly developed NWT technique was verified through comparison with given experimental results. The maximum energy extraction was estimated with various chamber-air duct volume ratios.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.5 s.149
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• pp.538-549
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• 2006

A code is developed to simulate a viscous flow field around a deformable body using the hybrid Cartesian/immersed boundary method. In this method, the immersed boundary(IB) nodes are defined near the body boundary then velocities at the IB nodes are reconstructed based on the interpolation along the normal direction to the body surface. A new method is suggested to define the IB nodes so that a closed fluid domain is guaranteed by a set of IB nodes and the method is applicable to a zero-thickness body such as a sail. To validate the developed code, the vorticity fields are compared with other recent calculations where a cylinder orbits and moves into its own wake. It is shown the code can handle a sharp trailing edge at Reynolds number of $10^5$ under moderate requirements on girds. Finally the developed code is applied to simulate the vortex shedding behind a deforming foil with flapping tail like a fish. It is shown that the acceleration of fluids near the flapping tail contributes to the generation of the thrust for propulsion.

• Journal of the Society of Naval Architects of Korea
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• v.44 no.1 s.151
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• pp.8-15
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• 2007

In this paper, numerical calculations are performed to analyze the unsteady flow of NACA airfoil sections. In order to ease the flow computation for the fluid region changing in time, improve the quality of solution and simplify the grid generation for the oscillating foil flow, the computational method adopts a moving and deforming mesh with the multi-block grid topology. The multi-block, structured-unstructured hybrid grid is generated using the commercial meshing software Gridgen V15. The MDM (Moving & Deforming Mesh) and the UDF (User Define function) function of FLUENT 6 are adopted for computing turbulent flows of the foil in pitching motion. Computed unsteady lift and drag forces are compared with experimental data. in general, the characteristics of unsteady lift and drag of the experiments are reproduced well in the numerical analysis.