• Journal of the Society of Naval Architects of Korea
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• v.29 no.1
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• pp.61-70
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• 1992

The method presented in this paper predicts the rolling motion of ships due to wave action. The Forker-Planck-Kolmogrov(FPK) method is adopted to evaluate the probability density function of the rolling motion which is of vital importance for design purposes. The apprximate solution of the FPK equation is obtained through averaging procedure. The accuracy of the proposed method is demonstrated by comparing with Dalzell's simulation and those from Roberts method as well.

• Journal of Ocean Engineering and Technology
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• v.2 no.1
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• pp.83-89
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• 1988

정지된 유동장에 놓인 반무한 평판이 횡방향으로 갑자기 출발하는 경우에 있어서 평판의 끝에서 발생하는 보텍스의 거동을 해석적 및 수치적 측면에서 검토하였다. 해석적 방법은 단일 보텍스 모델에 근거를 두었으며, 해석결과 순환량은 시간의 1/3승, 보텍스의 중심까지의 거리는 시간의 2/3승에 비례하여 증가함을 알 수 있었다. 룬게.쿠타(Runge-Kutta)방법을 써서 분리 보텍스 모델에 따른 비선형 운동방정식의 해를 수치적으로 구했다. 수치해는 시간의 경과에 따라 해석 해에 접근하였다. 보텍스의 형상에 있어서도 실험결과와 잘 맞았다.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.21 no.1
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• pp.30-38
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• 2009

In recent years, there's been strong demand for coastal structures that have a permeability that serves water affinity and disaster prevention from wave attack. The aim of this study is to examine the wave transformation, including wave run-up that propagates over the coastal structures with a steep slope. A numerical model based on the nonlinear shallow water equation, together with the unsteady nonlinear Darcy law for fluid motion in permeable underlayer and laboratory measurements was carried out in terms of the free surface elevations and fluid particle velocities for the cases of regular and irregular waves over 1:5 impermeable and permeable slopes. The numerical results were used to evaluate the application and limitations of the PBREAK numerical model. The numerical model could predict the cross-shore variation of the wave profile reasonably, but showed less accurate results in the breaking zone that the mass and momentum influx is exchanged the most. Except near the wave crest, the computed depth averaged velocities could represent the measured profile below the trough level fairly well.

• Journal of the Society of Naval Architects of Korea
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• v.37 no.2
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• pp.1-13
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• 2000

In the present paper, an infinite-depth unified theory is applied to the computation of the linear and second-order hydrodynamic forces on slender bodies. No forward speed is assumed, which is valid for some types of ships, like FPSOs and shuttle tankers. Strip theory solution, which is essential for the extension to theory is extended to unified theory, was obtained using NIIRD program developed at MIT. The linear theory is extended to the computation of the second-order mean-drift forces and moment. Furthermore, Aranha's formular is applied to the prediction of wave drift damping coefficients. From this study, it is proved that unified theory provides an accuracy comparable with 3D panel method for the second-order forces as well as the linear solution with much less computational effort.

• Journal of Korean Society of Steel Construction
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• v.10 no.4 s.37
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• pp.691-700
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• 1998

Based on Von Karman-Donnell kinematic assumptions for laminated shells, the nonlinear vibration behaviour of antisymmetrically or asymmetrically laminated cross-ply circular cylindrical shells with clamped and simply-supported ends are studied by a multi-mode approach. A equation is formulated and satisfies the associated compatibility equation and all boundary conditions. The displacement function is assumed to take the form of the lowest linear vibration mode and to satisfy continuity of the circumferential displacement. The nonlinear vibration equation is derived by the Galerkin's method. And nonlinear frequency is obtained by using the harmonic balance method as a function of lamination parameters, material constants, aspect ratio and amplitude of vibration. The effect of initial imperfection is also included. Results of the non-linear vibration are presented for different amplitudes of initial imperfection and four sets of boundary conditions. Present results are compared well with existing analysis results.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.2
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• pp.132-139
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• 1992

This paper presents geometrically nonlinear formulation of shell problems using the three-dimensional curved shell element, which includs large displacements and large rotations. Formulations of the geometrically nonlinear problems can be derived in a variety of ways, but most of them have been obtained by assuming that nodal rotations are small. Hence, the tangent stiffness matrix is derived under the assumptions that rotational increments are infinitesimal and the effect of finite rotational increments have to be considered during the equilibrium iterations. To study the large displacement and large rotation problems, the restrictions are removed and the formulations of the curved shell element including the effect of large rotational increments are developed in this paper. The displacement based finite element method using this improved formulation are applied to the analyses of the geometrically nonlinear behaviors of the single and double curved shells, which are compared with the results by others.

• Journal of Navigation and Port Research
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• v.33 no.5
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• pp.323-330
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• 2009

We have been developing an underwater robot for harbour construction using a parallel mechanism The robot is attached to the rope of a crane, which curries a large stone into the undersea The robot's yaw and pitch are controlled by hydraulic cylinders but its roll is uncontrollable. We mount propellers in both side of the robot to generate the roll motion This paper studies on the control for the roll motion of a underwater robot. A gyro-sensor is used to measure the angle in a roll motion We develop the dynamic model to describe the robot's roll motion by a second order non-linear system and identify the model parameters by recursive least square and adaptive identifier. PD control, recursive model based control and adaptive model based control are applied with the dynamic model which computes the control input to compensate disturbances. This paper introduces the underwater robot system and presents the simulated and experimental results of the proposed controller.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.1
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• pp.21-30
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• 2021

Mid-course trajectory of the missiles equipped with seeker should be designed to detect target within FOV of seeker and to maximize the maneuverability at the point of transition to terminal guidance phase. Because the trajectory optimization problems are generally hard to obtain the analytic solutions due to its own nonlinearity with several constraints, the various numerical methods have been presented so far. In this paper, mid-course trajectory optimization problem for boost-glide missiles is calculated by using SOCP (Second-Order Cone Programming) which is one of convex optimization methods. At first, control variable augmentation scheme with a control constraint is suggested to reduce state variables of missile dynamics. And it is reformulated using a normalized time approach to cope with a free final time problem and boost time problem. Then, partial linearization and lossless convexification are used to convexify dynamic equation and control constraint, respectively. Finally, the results of the proposed method are compared with those of state-of-the-art nonlinear optimization method for verification.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.5
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• pp.46-55
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• 2006

In general, 3-dimensional point-mass equation has been widely used for the trajectory optimization of the fixed-wing aircraft and reentry vehicle. But it should be modified and represent target vehicle's own characteristics. For a lighter-than-air vehicle such as an airship, there exists different and peculiar flight characteristics compared with the aircraft. The first part of this paper is to derive the dynamic equation of motion for the mid-altitude unmanned airship and the second part is to obtain the optimal trajectories under the minimal time flight given constraints. The trajectory optimization problem is converted into the nonlinear programming problem using Sequential Quadratic Programming approach. Finally numerical solutions are presented in the last part of the paper.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.683-690
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• 1985

본 논문에는 Euler매개변수를 회전좌표계로 사용하여 구속된 3차원 기계시스템의 역동학력 해 을 수행한 연구결과가 수록되었다. 해석을 위해 문제에 등장하는 비선형 Holonomic구속조건식 들과 운동방정식들을 Cartesian일반좌표계을 사용하여 표시하였으며, 일반좌표계를 구성하는 각 강체의 좌표계로는 변위를 나타내기 위한 3개의 좌표와 회전을 나타내기 위한 4개의 Euler매 개변수가 사용되었다. 구속조건식들과 미분방정식 형태의 운동방정식들을 결합하여 시스템 전 체의 운동방정식을 유도하기 위해 Lagrange승수 기법을 사용하였다. 각 강체의 주어진 시간에 서의 위치, 속도, 가속도는 기구학적 해석(kinematic analysis)을 통해 얻어지고, 이 자료들을 전 체운동방정식에 대입하여 Lagrnage승수의 값을 계산하여 6개의 자유도를 가진 로봇 기구를 원 하는대로 운전하는에 필요한 각 관절의 토오크를 계산하였으며, 계산결과가 정확하다는 사실이 입증되었다. 연구결과 Euler매개변수를 회전좌표로 사용할 경우 특이 경우(singular case)가 발 생하지 않으며, 이 방법은 역동력학 해석용 다목적 전산프로그램 개발에 광범위하게 응용될 수 있음이 밝혀졌다.