• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.771-780
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• 2010

This paper describes the design process of a six-component force/torque (F/T) sensor. The new six-component F/T sensor having leaf spring ends has been developed using a cross beam structure as the basic sensing element. Fundamental strain analysis of both ends fixed beam having a leaf spring structure is performed by finite element analysis. In order to obtain similar output sensing strains from the six component loads and minimize coupling strains, the optimal location of strain gages is determined and the strain gages are connected so that the bridge circuits with four strain gages would be balanced. Using leaf spring ends instead of rigid fixed ends, remarkable increment in output sensing strain can be achieved for two component forces. Several modifications in design result in a similar sensing strain of approximately $400\;{\mu}m/m$ for the six-component forces and moments, and a reduced coupling strain of $0\;{\mu}m/m$ between the forces and moments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.3
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• pp.235-240
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• 2011

A flexible hose attached to a mother ship experiences various motions that depend on the movement of the mother ship and that of underwater vehicle. Although the motion of the hose is a very important factor that determines how a mother ship should be steered in a real situation, it is difficult to experimentally obtain information about the hose motion. Therefore, we study the motion of the hose analytically. The ANCF(absolute nodal coordinate formulation) was used to model the hose, because this formulation can relax the Euler-Bernoulli theory and the Timoshenko beam theory and allow the deformation of the cross section. The mother ship is assumed to be a rigid body with 6 degrees of freedom. The motion of the hose is predominantly affected by the behavior of the mother ship and by the fluid flow.

• The Journal of the Acoustical Society of Korea
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• v.19 no.4
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• pp.84-92
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• 2000

In this paper, numerical scattering analysis for submerged scatterers is performed using finite and infinite elements. Unbounded domain is truncated into finite domain and finite elements are used in the domain. Infinite elements, So called Infinite Wave Envelope Elements (IWEE) which possess wave-like behavior, are used to take into account the infinite domain on the truncated boundary Scattering from rigid sphere is taken as an example and the effects of the order and mesh size of finite elements, size of finite element model and the order of IWEE are investigated. Quadratic finite element, refined mesh and higher order IWEE are recommended to improve the non-reflection boundary condition in the numerical scattering analysis.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.7 no.2
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• pp.156-162
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• 1995

A numerical method for a 2-D oil boom model considering the flexibility of skirt has been developed The neater is assumed rigid and the skirt is tensioned membrane having a point mass at its end The fluid motion is potential. The kinematic condition which demands the continuity of the displacement is imposed at the joint between the floater and the skirt. The dynamic condition for the point mass is imposed at the bottom end of the skirt. The numerical method is based on the Green's function method in the frame of linear potential theory. It finds it's solution simultaneously from the total system of three equations, integral equation, the equation of motion of the floater and the equilibrium equation of the deformation of the skirt. Integral equation is derived by applying the Green's theorem to radiation potential and Green's function. Proper descretization of those three equations leads to the system of a linear algebraic equation. Due to the flexibility of skirt the motion of floater can be diminished in some range of wave frequency and furthermore the mechanism of resonance of the oil boom can be changed. The motion responses of various oil booms have been compared varying the length of the skirt and the point mass. The numerical method has been validated indirectly from the good correspondence between the motion responses of the flexible skirt model and the rigid skirt model in low frequency limit.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.5
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• pp.455-463
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• 2012

In this study, we calculate dynamic constrained force of tower top and blade root of a floating offshore wind turbine. The floating offshore wind turbine is multibody system which consists of a floating platform, a tower, a nacelle, and a hub and three blades. All of these parts are regarded as a rigid body with six degree-of-freedom(DOF). The platform and the tower are connected with fixed joint, and the tower, the nacelle, and the hub are successively connected with revolute joint. The hub and three blades are connected with fixed joint. The recursive formulation is adopted for constructing the equations of motion for the floating wind turbine. The non-linear hydrostatic force, the linear hydrodynamic force, the aerodynamic force, the mooring force, and gravitational forces are considered as external forces. The dynamic load at the tower top, rotor shaft, and blade root of the floating wind turbine are simulated in time domain by solving the equations of motion numerically. From the simulation results, the mutual effects of the dynamic response between the each part of the floating wind turbine are discussed and can be used as input data for the structural analysis of the floating offshore wind turbine.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.1
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• pp.91-101
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• 2008

Structural analysis models to develop live load distribution factors of simply supported prestressed concrete I-girder bridge should have the precision of the analysis results as well as modeling simplicity. This is due to the numerous frequency of structural analysis needed while developing live load distribution factors. In this study, an appropriate structural analysis model is selected by comparing previous researchs studies and models used in practical design. Also, the influence by the flexural stiffness of barrier and diaphragm on the live load distribution had been analyzed through comparing the numerical analysis and experimental tests. As a result, the model that the eccentric girder and the barrier and diaphragm are connected to the deck plate was appropriate in satisfying both accuracy and simplicity for structural analysis of simply supported prestressed concrete I-girder bridge. However, the barrier was analyzed to have insignificant influence on the live load distribution in spite of its variation of stiffness. The eccentric diaphragm showed little influence at 25% or higher of flexural stiffness. From the results, a model that the girder is rigidly connected to the deck plate in consideration of the eccentricity, the barrier is ignored and the whole section of diaphragm is supposed to be valid without eccentricity is decided as the most appropriate structural model to develop the live load distribution factors of simply supported prestressed concrete I-girder bridge in this study.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.27 no.5
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• pp.315-323
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• 2015

Damage level of coastal structures has been scaled up according to increase of wave height and duration of the storm due to the abnormal global climate change. So, the design criteria for new breakwaters is being intensified and structural strengthening is also conducted for the existing breakwaters. Recently, interlocking concept has been much attention to enhance the structural stability of the conventional caisson structure designed individually to resist waves. The interlocking caisson breakwater may be survival even if unusual high wave occurs because the maximum wave force may be reduced by phase lags among the wave forces acting on each caisson. In this study, the dispersion characteristics of wave forces using interlocking system that connect the upper part of caisson with cable in the normal direction of breakwater was investigated. A simplified linear model was developed for computational efficiency, in which the foundation and connection cables were modelled as linear springs, and caisson structures were assumed to be rigid. From numerical experiments, it can be found that the higher wave forces are transmitted through the cable as the angle of incident wave is larger, and the larger the stiffness of the interlocking cable makes larger wave dispersion effect.

• Journal of Navigation and Port Research
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• v.34 no.3
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• pp.195-203
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• 2010

This paper concerns about total dynamic analysis of integrated mining system. This system consists of vertical steel pipe, intermediate buffer station, flexible pipe and self-propelled miner. The self-propelled miner and buffer are assumed as rigid-body of 6-dof. Discrete models of vertical steel pipe and flexible pipe are adopted, which are obtained by means of lumped-parameter method. The motion of mining vessel is not considered. Instead, the motion of mining vessel is taken into account in form of various boundary conditions (e.g. forced excitation in slow motion and/or fast oscillation and so on). A terramechanics model of extremely cohesive soft soil is applied to the self-propelled miner. Hinged and ball constraints are used to define the connections between sub-systems (vertical steel pipe, buffer, flexible pipe, self-propelled miner). Equations of motion of the coupled model are derived with respect to the each local coordinates system. Four Euler parameters are used to express the orientations of the sub-systems. To solve the equations of motion of the total dynamic model, an incremental-iterative formulation is employed. Newmark-${\beta}$ method is used for time-domain integration. The total dynamic responses of integrated mining system are investigated.