• Journal of the Korea institute for structural maintenance and inspection
• /
• v.18 no.6
• /
• pp.147-154
• /
• 2014

The cable damages of the bridge structures induce very important impact on the structural safety, which implies the close monitoring of the cable damage is required to secure sustained safety of the bridges. Most usual available maintenance techniques are based on the monitoring the change of the natural frequency of the structures by damages. However, existing method are based on vibration method to calculate lateral vibration and system identification can calculate the axial stiffness using sensitivity equation by trial error method. But the frequency study by the longitudinal movement need because of the sag effect in system identification. This study proposes a new method to investigate the damage magnitudes and status. The method improves the accuracies in the magnitudes and status of damages by adopting the natural frequency of longitudinal movement. The study results have been validated by comparing them with the approximate solution of FEM. Thus, the relationship of cable damage and frequency appear with relation that the severe damage has the little frequency. If we know the real frequency we can estimate the cable damage severity using this relationship. This method can be possible the efficient management of the cable damage.

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

• Plant Journal
• /
• v.9 no.3
• /
• pp.38-42
• /
• 2013

Submarine gas fields have focused because of the increasing fuel cost, the environmental regulations, and the safety & NIMBY problems. LNG-FPSO which is available for acid gas removal, recovery of the condensate & LPG and Liquefaction in topside process is one of high technology offshore structures. On the other hands, it is necessary to verify the pre-treatment efficiency by the ship motion and to apply to the design for LNG-FPSO. This study is to develop the pre-treatment technology for LNG-FPSO as taking account to the process efficiency by ship motion effects and the area optimization. Based on the simulation results, it founds that hybrid process shows the low circulate rate, the low heat duty and the small size of column dimensions compared to typical amine process. It will be verified the process efficiency in the various conditions by sea states as performing the 6-DOF motion test and CFD simulation.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.43 no.1
• /
• pp.49-61
• /
• 2007

Otter boards in the trawl are the one of essential equipments for the net mouth to be spread to the horizontal direction. Its performance should be considered in the light of the spreading force to the drag and the stability of towing in the water. Up to the present, studies of the otter boards have focused mainly on the drag and lift force, but not on the stability of otter boards movement in 3 dimensional space. In this study, the otter board is regarded as a rigid body, which has six degrees of freedom motion in three dimensional coordinate system. The forces acting on the otter boards are the underwater weight, the resistance of drag and spread forces and the tension on the warps and otter pendants. The equations of forces were derived and substituted into the governing equations of 6 degrees of freedom motion, then the second order of differential equations to the otter boards were established. For the stable numerical integration of this system, Backward Euler one of implicit methods was used. From the results of the numerical calculation, graphic simulation was carried out. The simulations were conducted for 3 types of otter boards having same area with different aspect ratio(${\lambda}=0.5,\;1.0,\;1.5$). The tested gear was mid-water trawl and the towing speed was 4k't. The length of warp was 350m and all conditions were same to each otter board. The results of this study are like this; First, the otter boards of ${\lambda}=1.0$ showed the longest spread distance, and the ${\lambda}=0.5$ showed the shorted spread distance. Second, the otter boards of ${\lambda}=1.0$ and 1.5 showed the upright at the towing speed of 4k't, but the one of ${\lambda}=0.5$ heeled outside. Third, the yawing angles of three otter boards were similar after 100 seconds with the small oscillation. Fourth, it was revealed that the net height and width are affected by the characteristics of otter boards such as the lift coefficient.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.5B
• /
• pp.502-510
• /
• 2011

In this research, a wireless movable systems is introduced that is applicable for real-world clinical examination in order to resolve the inconvenience of wired motion analysis system which uses markers by measuring more accurately the angle of the 3D motion. The system is composed of bluetooth data transmission and 6 DOF inertial measurement system that is composed of 3-axis acceleration and 3-axis gyroscope. The samples were collected from 10 feet of 5 young children who were confirmed as patients having flat feet and achilles tendonitis by podiatric expert in pediatrics, and the validity of the system was evaluated by comparison with the opinion by the expert using the EMG data and the data measured by the developed system. ROM of ankle was measured by the difference between the maximum and the minimum peaks of 3-axis values (pitch, roll and yaw) measured at lateral malleolus bone, and based on this measured value, the eversion rate became relatively higher as flat feet state become worse, which is equivalent to the opinion from the podiatric experts. It was shown that there is a relation between the certain muscle activities and the abnormal motion of foot caused by disease.

• Nuclear Engineering and Technology
• /
• v.46 no.3
• /
• pp.439-446
• /
• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• 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 Computational Structural Engineering Institute of Korea
• /
• v.25 no.5
• /
• pp.455-463
• /
• 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 Biomedical Engineering Research
• /
• v.35 no.3
• /
• pp.50-54
• /
• 2014

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.30 no.1
• /
• pp.74-81
• /
• 2024

In the near future, autonomous ships, ships controlled by shore remote control centers, and ships operated by navigators will coexist and operate the sea together. In the advent of this situation, a method is required to evaluate the safety of the maritime traffic environment. Therefore, in this study, a plan to evaluate the safety of navigation through ship control simulation was proposed in a maritime environment, where ships directly controlled by navigators and autonomous ships coexisted, using autonomous operation technology. Own ship was designed to have autonomous operational functions by learning the MMG model based on the six-DOF motion with the PPO algorithm, an in-depth reinforcement learning technique. The target ship constructed maritime traffic modeling data based on the maritime traffic data of the sea area to be evaluated and designed autonomous operational functions to be implemented in a simulation space. A numerical model was established by collecting date on tide, wave, current, and wind from the maritime meteorological database. A maritime meteorology model was created based on this and designed to reproduce maritime meteorology on the simulator. Finally, the safety evaluation proposed a system that enabled the risk of collision through vessel traffic flow simulation in ship control simulation while maintaining the existing evaluation method.