• Journal of Power System Engineering
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• v.15 no.1
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• pp.64-71
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• 2011

The Tension Leg Platform(TLP) is restrained from oscillating vertically by tethers(or tendons), which are vertical anchor lines tensioned by the platform buoyancy larger than the platform weight. Thus a TLP is a compliant structure which allows lateral movements of surge, sway, and yaw but restrains heave, pitch, roll. In this paper, the motions of a TLP in current and waves were investigated. Hydrodynamic forces and wave exciting forces acting on the TLP were evaluated using the three dimensional source distribution method. The motion responses and tension variations of the TLP were analyzed in the case of including current or not including one in regular waves and effects of current on the TLP were investigated.

• Smart Structures and Systems
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• v.9 no.1
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• pp.71-104
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• 2012

In this research, a typical tension-leg type of floating platform incorporated with an innovative concept of underwater tuned liquid column damper system (UWTLCD) is studied. The purpose of this study is to improve the structural safety by means of mitigating the wave induced vibrations and stresses on the offshore floating Tension Leg Platform (TLP) system. Based on some encouraging results from a previous study, where a Tuned Liquid Column Damper (TLCD) system was employed in a floating platform system to reduce the vibration of the main structure, in this study, the traditional TLCD system was modified and tested. Firstly, the orifice-tube was replaced with a smaller horizontal tube and secondly, the TLCD system was combined into the pontoon system under the platform. The modification creates a multipurpose pontoon system associated with vibration mitigation function. On the other hand, the UWTLCD that is installed underwater instead would not occupy any additional space on the platform and yet provide buoyancy to the system. Experimental tests were performed for the mitigation effect and parameters besides the wave conditions, such as pontoon draught and liquid-length in the TLCD were taken into account in the test. It is found that the accurately tuned UWTLCD system could effectively reduce the dynamic response of the offshore platform system in terms of both the vibration amplitude and tensile forces measured in the mooring tethers.

• Physical Therapy Korea
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• v.3 no.3
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• pp.1-11
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• 1996

The purpose of this study were to evaluate and compare the balance ability at different conditions in normal 20 to 29 years old on unstable platform, KAT 2000(Breg, Inc., Vista, CA. 1994). Static and dynamic BI(balance index) were measured 3psi and 5psi surface conditions. Static tests were done on right and left leg separately, then both legs together with the feet apart 20cm with the eyes opened and closed. Dynamic tests were done on both legs together with apart 20cm with the eyes opened. A dynamic test was performed in which the subject moved platform in a circular manner to chase a moving object on a computer screen. Seventy healthy students(average 21.6 years, male, female) were tested. In this study applied the paired t-test and correlation to determine the statistical significance of result. The results were as follow: 1) The mean static balance index of the Rt leg was $119.9{\pm}75.72$ on 3psi surface condition with the eyes opened, and that of the Lt leg was $224.3{\pm}121.16$. 2) The mean static balance index of the Rt leg was $93.1{\pm}24.16$ on 5psi surface condition with the eyes opened, and that of the Lt leg was $180.5{\pm}61.76$. 3) The mean static and dynamic balance index of both legs were $76.4{\pm}31.86$, $2187.6{\pm}696.99$ on 3psi with the eyes opened, and $68.3{\pm}14.82$, $1938.7{\pm}525.41$ on 5psi respectively. 4) The mean static balance index of the Rt leg was $517.8{\pm}220.87$ on 3psi surface condition with the eyes closed, and that of the Lt leg was $588.6{\pm}204.81$. 5) The mean static balance index of the Rt leg was $271.9{\pm}192.151$ on 5psi surface condition with the eyes closed, and that of the Lt leg was $363.4{\pm}98.97$. 6) The mean static balance index of both legs was $332.6{\pm}137.31$ on 3psi surface condition with the eyes closed, and that of the 5psi was $288.5{\pm}133.07$. 7) The balance index on 3psi surface condition was significantly higher than that of 5psi (p<0.05, p<0.01). 8) The balance index with the eyes closed was significantly higher than that of the eyes opened (p<0.05). 9) The balance index on the left leg was significantly higher than that of the right leg (p<0.05, p<0.01). 10) There was no correlation between static balance index and dynamic balance index. 11) Therewas no correlation between weight or height and balance index.

• Journal of Ocean Engineering and Technology
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• v.5 no.1
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• pp.16-24
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• 1991

This paper presents a method of the reliability analysis for a tension leg platform(TLP)in severe storm waves by using the first passage concept of the random tensile stress in the tendons. In the present method, two failure conditions are considered ;i.e., the exceedance of the ultimate tensile capacity and the occurrence of the negative tension. In order to consider the correlation effects between the failure events for each corner resulted from the rupture of all tencons at one corner, a new system limit state for a rectangular shaped TLP is developed, which is defined in terms of the TLP motions in the vertical plane ;i.e., heave, roll, and pitch. To illustrate the validity of the present method, the numerical analysis is carried out for two TLP's with different structural dimensions. Then, the results are compared with those by other methods.

• Korean Journal of Applied Biomechanics
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• v.12 no.1
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• pp.115-124
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• 2002

The purpose of this study is to analyze the ground reaction force of arm landing on arm and leg during sports aerobics. Subjects of this study were total 10 players of 5 males and 5 females who have are domain sports aerobics medalists more than the third place in national tournaments. The subjects jumped between the two ground reaction force analyzers, while landing their right hand on the front platform(#1) and their right leg on the rear platform(#2), and the data frequency was set to 200Hz. Findings of this study are as follows; More than 3 times of impact peak force of vertical reaction force acted on arm joint than on leg joint. And, when ground reaction force on foot increased, ground reaction force on hand decreased. 3 impact peaks of curve of ground reaction force were found - Impact Peak 1 incurred on the time the palm lands on the ground, Impact Peak 2 absorbing shock secondarily on wrist joint, and Active Peak incurred on the time of holding the weight while pushing out the severly bent elbow joint.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.1
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• pp.1-13
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• 2014

A new 5-MW floating offshore wind turbine moored by a spring-tensioned-leg was proposed for installation in about 50m water depth. Its substructure is a platform of the inverted conical cylinder type with massive ballast weight plate at the bottom. A 1:128 scale model was built for the preliminary engineering development. The model tests in waves and wind were carried out to estimate motion characteristics of this platform in the Ocean Engineering Wide Tank of the University of Ulsan. Its motions were measured and the RAOs were compared. The proposed floating offshore wind turbine showed a good stability and decent responses in waves, wind and operation of the wind turbine.

• International Journal of Ocean System Engineering
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• v.4 no.1
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• pp.19-28
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• 2014

The tension leg platform (TLP) is a vertically moored structure with excess buoyancy. The TLP is regarded as moored structure in horizontal plan, while inherit stiffness of fixed platform in vertical plane. In this paper, a numerical study using modified Morison equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between surge, sway, heave, roll, pitch and yaw degrees of freedom on the dynamic behavior of TLP's. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark's beta integration scheme. The effect of tethers length and wave characteristics such as wave period and wave height on the response of TLP's was evaluated. Only uni-directional waves in the surge direction was considered in the analysis. It was found that for short wave periods (i.e. 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on tether length, wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations about that is significantly dependent on tether length.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.8
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• pp.9-18
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• 2022

As the COVID-19 continues, the demand for robotic technology that can be applied in face-to-face tasks such as delivery and transportation, is increasing. Although these technologies have been developed and applied in various industries, the robots can only be operated in a tidy indoor environment and have limitations in terms of payload. To overcome these problems, we developed a 2 degree of freedom(DOF) environmental adaptive robot leg with a double 1-DOF counterbalance mechanism (CBM) based on wire roller. The double 1-DOF CBM is applied to the two revolute joints of the proposed robot leg to compensate for the weight of the mobile robot platform and part of the payload. In addition, the link of the robot leg is designed in a parallelogram structure based on a belt pulley to enable efficient control of the mobile platform. In this study, we propose the principle and structure of the CBM that is suitable for the robot leg, and design of the counterbalance robot leg module for the environment-adaptive control. Further, we verify the performance of the proposed counterbalance robot leg by using dynamic simulations and experiments.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.04a
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• pp.69-74
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• 2000

Linear and nonlinear motion responses of a Tension Leg Platform(TLP) was investigated by model tests. The model tests were carried out at KRISO's Ocean Engineering Basin which has a deep pit of which diameter and depth are 5 meters and 12.5 meters, respectively. Optical sensors were used for measuring drift motions, and a set of accelerometers were employed for analyzing wave frequency motions. ISSC TLP was chosen as the model for the present study. Scale ratio was 1/65 and elastic modelling of tether system were conducted. Very good agreement was obtained between experimental results and theoretical calculations not only in linear motion responses but tension responses, nonlinear wave drift force and double frequency excitations.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.270-277
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• 2019

Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.