• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.7
• /
• pp.709-715
• /
• 2015

Underwater gliders do not typically have separate propellers for forward motion. They generate propulsive forces based on the difference between their buoyancy and gravity. They can control the volume from the buoyancy engine to adjust the propulsive force. In addition, the attitude of the underwater glider is controlled by a rubberless motion controller. The motion controller can change the mass center and moment of inertia of the inner moving mass. Owing to the change in these parameters, the attitude of the underwater glider is changed. In this study, we derive nonlinear, six degree of freedom (DOF) mathematical models for the motion controller and buoyancy engine. Using these equations, we perform dynamic simulations of the proposed underwater glider, and verify the suitability of the design and dynamic performances of the proposed underwater glider. We then perform the motion control simulation for the pitch and roll angle, and analyze the dynamic performance according to the pitch and roll angles.

• Journal of the Society of Naval Architects of Korea
• /
• v.32 no.1
• /
• pp.37-41
• /
• 1995

In order to analyze the rolling motion of a ship in random beam waves we use the partial stochastic linearization method. The quadratic damping and the nonlinear restoring moments given by the odd polynomials up to the 11th order are added to a single degree of freedom linear equation of roll motion. The irregular excitation moment is assumed to be the Gaussian white noise. The statistical characteristics of the response by the partial stochastic linearization method is compared with results by the equivalent linearization method and Monte Carlo simulation. It is fecund that the partial stochastic linearization method is not necessarily superior to the equivalent linearization method.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.7
• /
• pp.3074-3084
• /
• 2012

The purpose of this study lies in examining how sling lumbar stabilization exercise affects static standing balance of adolescent idiopathic scoliosis patients. The subjects were forty patients who were diagnosed with idiopathic scoliosis. They were randomly assigned either to a experimental group (n=20) that received sling lmubar stabilization exercise program or to a control group (n=20) that received only education. Data were obtained for each patient from total sway path and sway velocity in standing on both feet with eyes closed and standing on both feet with eyes open were measured, using balance performance monitor. All variables were measured at pre- and post-exercise. There were significantly differences between the both groups for all variables at post-exercise (p<.05). The experimental group showed a significantly decreases in all variables at pre- and post-exercise (p<.05). But the control group showed a no significantly differences. These results revealed that sling lumbar stabilization exercise improved static standing balance, by reducing COP(center of pressure) sway path and sway velocity of idiopathic scoliosis patients, and it is expected that sling lumbar stabilization exercise will be used as balance enhancement exercise intervention for the treatment of adolescent idiopathic scoliosis patients.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.27 no.2
• /
• pp.211-218
• /
• 2021

This paper addressed the problems of controlling the coupled pitch-roll motions in a marine vessel exposed to the regular waves in the longitudinal and transversal directions. Stabilization of the pitch and roll motions can be regarded as the essential task to ensure the safety of a ship's navigation. One of the important features in the pitch-roll motions is the resonance phenomena, which result in unexpected large responses in terms of pitch and roll modes in some specific conditions. Besides, owing to its inherent characteristics of coupled combination and nonlinearity of restoring terms, the vessel shows various dynamical behaviors according to the system parameters, especially in the pitch responses. Above all, it can be seen that suppression of pitch rate remains the most significant challenge to overcome for ship maneuvering safety studies. To secure the stable upright condition, a quasi-sliding mode control scheme is employed to reduce the undesirable pitch and roll responses as well as chattering elimination. The Lyapunov theory is adopted to guarantee the closed stability of the pitch-roll system. Numerical simulations demonstrate the effectiveness of the control scheme. Finally, the control goals of state convergences and chattering reduction are effectively realized through the proposed control synthesis.

• Korean Journal of Fisheries and Aquatic Sciences
• /
• v.34 no.1
• /
• pp.43-50
• /
• 2001

In order to analyze the dynamic motions of fish cage systems made of a frame and a netting under the conditions of waves and current, the hydraulic model experiment at towing tank and the numerical computation using boundary integral element method based on linear potential theory were carried out on a square and a circular type of fish cage, The computed and measured results for the dynamic motions of model fish cage systems showed that the heave and pitch motions were almost unaffected by the inclusion of nets, while the surge motions were very reduced by drag force acting on them. In addition, irregular wave-induced motions of fish cages included non-negligible 2nd order harmonic components at high frequency nearly twice the wave frequency. The reason why these motions were considered was due to resonance or structural components of frames being overflown and out of water during a wave cycle. It was found that circular type was more desirable structure in the open sea than square one only in the respect of dynamic motions due to waves and current. Further verifications were needed considering hydrodynamic forces, fatigue life, and structure analysis based on long term stochastic waves including frequency and time domain for the purpose of analyzing and designing fish cage systems.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.9
• /
• pp.4098-4106
• /
• 2012

This study aims to investigate the effect of trunk muscle strengthening exercises on balance performance of sitting posture and muscle tone, targeting the children with spastic diplegic cerebral palsy. 16 children with spastic diplegic cerebral palsy in IV phase of GMFCS were sampled at random and the tests were conducted for 6 weeks, 3 times per week. For experimental groups, only trunk muscle strengthening exercises were conducted and for control groups, only basic physical therapy was conducted. The trunk muscle strengthening exercise consisted of 2 exercises to strengthen abdominal muscles and back muscles. BPM(Balance Performance Monitor) was used to measure balance performance and MMAS(Modified Modified Ashworth Scale) was used to measure muscle tone. As a result, the changes of sitting balance performance in experimental groups and control groups show significant difference in the changes of sway path and sway velocity(p<.05), the comparison of changes in sitting balance performance in between experimental groups and control groups show significant difference in the changes of sway path and sway velocity(p<.05). Knee flexor muscles and hip adductor muscles in both groups show no significant difference in changes of the muscle tone(p>.05). Therefore, the balance performance in both experimental groups and control groups was improved. However, the experimental group had more significant improvement in balance performance and no change in muscle tone was detected in both groups. Thus, these findings show trunk muscle strengthening exercises are effective in improving the balance performance of sitting posture for the children with spastic diplegic cerebral palsy without changing muscle tone.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2017.11a
• /
• pp.130-131
• /
• 2017

부유체의 횡동요는 부유체의 안정성을 헤칠 뿐 아니라 승조원의 피로를 누적시키고, 기자재의 안정적인 운용과 수명에도 영향을 미친다. 본 연구에서는 점성감쇠 안티롤링진자를 이용하여 부유체의 횡동요를 줄이는 방법을 제안하고, 안티롤링진자의 효용성을 보인다. 약 1m, 7.7kg의 모형선에 32g, 40g, 50g의 안티롤링진자를 탑재하여 16%~23.5%의 롤링 저감 효과를 얻을 수 있었다.

• Journal of the Korean Society of Radiology
• /
• v.13 no.3
• /
• pp.391-398
• /
• 2019

The purpose of study is to investigate the difference of the daN force applied during the examination using Telos Device and the degree of fluctuation of anterior cruciate ligament according to the individual differences of the muscles involved in knee stability. The examination was done by the Lachman test using Telos Device and the changes of anterior cruciate ligament were measured by varying the force of 0. 15, 30 daN on each right and left side and the force of 30 daN after the bruce protocol. Computed tomography (CT) was used to measure muscle mass. As a result of measuring the degree of fluctuation of the anterior cruciate ligament according to the change of the force applied to the Telos Device, there was a statistically significant difference in the knee fluctuation when 15 daN and 30 daN were applied on both right and left. Also, it is analyzed that the degree of fluctuation of anterior cruciate ligament varies according to the difference of individual's muscle mass. Therefore, it is considered that the force applied to the Telos Device should be changed according to the difference of individual's muscle mass.

• Proceedings of the KIEE Conference
• /
• 2002.11b
• /
• pp.268-270
• /
• 2002

본 논문에서는 댐핑이 고려된 전력계통에서 동요시 안정도를 향상시킬 수 있는 확장된 PI제어를 이용한 조속기 제어기를 제안하였다. 전력계통에서의 동요는 대부분 고장기간 동안에 발전기에 저장된 과잉운동에너지에 의해 발생한다. 계통이 안정하도록 하기 위해서 과잉에너지를 효과적으로 다루려면 보통 직접법을 사용된다. 과잉에너지를 제어하기 위한 직접적인 방법으로는 LFC(Load Frequency Control)의 궤한이 활용된다. 확장된 PI제어 방식이 적용된 제어기는 지역내에서와 지역사이에서의 동요를 감쇄시키기 위한 조속기에 적용될 수 있다 또한 제안된 제어기는 조속기에 스팀밸브 제한 조건이나 발전율 제약조건(Generation Rate Constraint; GRC)과 같은 특이점이 존재할 때에도 우수한 성능을 보여주었다. 시뮬레이션은 두지역의 다기계통에서 부하를 변화시켜가며 실시하였다. 시뮬레이션 결과는 제안된 PI 제어기를 기존의 PI 제어기와 비교하여 매우 향상된 성능을 보여주었다.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.4
• /
• pp.501-509
• /
• 2010

A floating crane is a crane-mounted ship and is used to assemble or to transport heavy blocks in shipyards. In this paper, the static and dynamic response of a floating crane and a heavy block that are connected using elastic booms and wire ropes are described. The static and dynamic equations of surge, pitch, and heave for the system are derived on the basis of flexible multibody system dynamics. The equations of motion are fully coupled and highly nonlinear since they involve nonlinear mass matrices, elastic stiffness matrices, quadratic velocity vectors, and generalized external forces. A floating frame of reference and nodal coordinates are employed to model the boom as a flexible body. The nonlinear hydrostatic force, linear hydrodynamic force, wire-rope force, and mooring force are considered as the external forces. For numerical analysis, the Hilber-Hughes-Taylor method for implicit integration is used. The dynamic responses of the cargo are analyzed with respect to the results obtained by static and numerical analyses.