• Journal of Ocean Engineering and Technology
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• v.20 no.6 s.73
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• pp.93-100
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• 2006

This paper is concerned with the dynamic analysis of an underwater tracked vehicle, operating on extremely soft soil of the deep-seafloor. The vehicle is assumed as a rigid-body with 6-dof. The orientation of the vehicle is defined by four Euler parameters. To solve the motion equations of the vehicle, the Newmark numerical integrator is used in the incremental-iterative algorithm. The normalization constraint of Euler parameters is satisfied by using of a sequential updating method. The hydrodynamic force and moment are included in the tracked vehicle's dynamics. The hydrodynamic effects on the performance of tracked vehicles are investigated through numerical simulations.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.4
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• pp.9-17
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• 1996

This paper develops a sequential updating method of the Euler parameter generalized coordinates for the machine kinematics and dynamics, The Newton's method is slightly modified so as to utilize the Jacobian matrix with respect to the virtual rotation instead of this with repect to the Euler parameters. An intermediate variable is introduced and the modified Newton's method solves for the variable first. Relational equation of the intermediate variable is then solved for the Euler parameters. The solution process is carried out efficiently by symoblic inversion of the relational equation of the intermediate variable and the iteration equation of the Euler parameter normalization constraint. The proposed method is applied to a kinematic and dynamic analysis with the Generalized Coordinate Partitioning method. Covergence analysis is performed to guarantee the local convergence of the proposed method. To demonstrate the validity and practicalism of the proposed method, kinematic analysis of a motion base system and dynamic analysis of a vehicle are carried out.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.163-167
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• 2003

A novel method for 3-dimensional dynamic analysis of marine slender structure gas been developed by using Euler parameters. The Euler parameter rotation, which is being widely used in aerospace vehicle dynamics and multi-body dynamics, has been applied to elastic structure analysis. Large deformation of flexible slender structures is described by means of Euler parameters. Euler parameter method is implemented effectively in incremental-iterative algorithm for 3D dynamic analysis. The normalization constraint of Euler parameters is efficiently satisfied by means of a sequential updating method.

• Proceedings of the Acoustical Society of Korea Conference
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• autumn
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• pp.255-258
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• 2000

초음속 유동장 내에 설치된 끝이 막힌 관에 의해 발생하는 공진 현상에는 스크리치 모드 (jet screech mode)와 토출 모드 (jet regurgitant mode)가 있다 이중 토출 모드는 원리상 음향학적 공진과 밀접한 관련이 있다. 본 연구에서는 경계 조건으로, 주어진 강도와 주파수를 갖는 마하 수의 진동을 통하여 압축성 유동장을 가진하는 개념적 모델을 통하여 공진 현상을 모사한다. 비선형 효과의 탐구를 위해 축대칭 오일러 방정식을 수치적으로 풀이하면서, 4 가지의 주요한 파라메터들 (가진 강도, 가진 주파수, 진 동부와 관 사이의 거리, 관의 깊이)을 추출하고 이에 대한 영향을 연구하였다. 또한 비선형 유동 효과에 의해 발생하는, 고전 이론에 의해 예측된 공진 주파수와의 차이를 정량적으로 나타내고 그 원인을 고찰하였다.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.237-245
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• 2008

We developed a computational method on coupled dynamics of tracked vehicle on seafloor and long flexible pipe. The tracked vehicle is modeled as rigid-body vehicle, and the linked flexible pipe is discretized according to a lumped-parameter model. The equations of motion of the rigid-body vehicle on the soft seafloor are combined with the governing equations of flexible pipe dynamics. Four Euler parameters method is used to express the orientations of the vehicle and the flexible pipe. In order to solve the nonlinear coupled dynamics of vehicle and flexible pipe an incremental-iterative formulation is implemented. For the time-domain integration $Newmark-\beta$ method is adopted. The total Jacobean matrix has been derived based on the incremental-iterative formulation. The interactions between the dynamics of flexible pipe and the mobility of the tracked vehicle on soft seafloor are investigated through numerical simulations in time domain.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.351-356
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• 2000

Various transition elements are generally used for the effective analysis of a complicated mechanical structure. In this paper, a solid-to-beam transition finite element which connects a continuum element and a $c^1-continuity$ beam element each other is proposed. The shape functions of the transition finite elements, which a 8-noded hexahedral solid element fur 3D analysis and a 4-noded quadrilateral plane element fur 2D analysis are connected to a Euler's beam element, are explicitely formulated. In order to show the effectiveness and convergence characteristics of the proposed transition elements. numerical tests are performed for various examples and their results are compared with those obtained by other methods. As the result of this study. following conclusions are obtained: (1)The proposed transition finite elements show the monotonic convergence characteristics because of having used the compatible displacement folds. (2)As being used the transition element in the finite element analysis, the finite element modelings are more convenient and the analysis results are more accurate because of the formulation characteristies of the Euler's beam element.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.12
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• pp.1547-1557
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• 2013

A forced vibration model of a rail system was established using the Timoshenko beam theory to determine the dynamic response of a rail under time-varying load considering the damping effect and stiffness of the elastic foundation. By using a Fourier series and a numerical method, the critical velocity and dynamic response of the rail were obtained. The forced vibration model was verified by using FEM and Euler beam theory. The permanent deformation of the rail was predicted based on the forced vibration model. The permanent deformation and wear were observed through the experiment. Parametric studies were then conducted to investigate the effect of five design factors, i.e., rail cross-section shape, rail material density, rail material stiffness, containment stiffness, and damping coefficient between rail and containment, on four performance indices of the rail, i.e., critical velocity, maximum deflection, maximum longitudinal stress, and maximum shear stress.

• 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.