• Ocean Systems Engineering
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• 제7권3호
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• pp.179-193
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• 2017

Dynamic response analysis of offshore triceratops with stiffened buoyant legs under impact and non-impact waves is presented. Triceratops is relatively new-generation complaint platform being explored in the recent past for its suitability in ultra-deep waters. Buoyant legs support the deck through ball joints, which partially isolate the deck by not transferring rotation from legs to the deck. Buoyant legs are interconnected using equally spaced stiffeners, inducing more integral action in dispersing the encountered wave loads. Two typical nonlinear waves under very high sea state are used to simulate impact and non-impact waves. Parameters of JONSWAP spectrum are chosen to produce waves with high vertical and horizontal asymmetries. Impact waves are simulated by steep, front asymmetric waves while non-impact waves are simulated using Stokes nonlinear irregular waves. Based on the numerical analyses presented, it is seen that the platform experiences both steady state (springing) and transient response (ringing) of high amplitudes. Response of the deck shows significant reduction in rotational degrees-of-freedom due to isolation offered by ball joints. Weak-asymmetric waves, resulting in non-impact waves cause steady state response. Beat phenomenon is noticed in almost all degrees-of-freedom but values in sway, roll and yaw are considerably low as angle of incidence is zero degrees. Impact waves cause response in higher frequencies; bursting nature of pitch response is a clear manifestation of the effect of impact waves on buoyant legs. Non-impact waves cause response similar to that of a beating phenomenon in all active degrees-of-freedom, which otherwise would not be present under normal loading. Power spectral density plots show energy content of response for a wide bandwidth of frequencies, indicating an alarming behaviour apart from being highly nonlinear. Heave, being one of the stiff degrees-of-freedom is triggered under non-impact waves, which resulted in tether tension variation under non-impact waves as well. Reduced deck response aids functional requirements of triceratops even under impact and non-impact waves. Stiffened group of buoyant legs enable a monolithic behaviour, enhancing stiffness in vertical plane.

• 대한조선학회논문집
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• 제59권3호
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• pp.173-182
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• 2022

The present study suggests a procedure of establishing a ship dynamics modeling by regression of free-running model test results. The hydrodynamic force and moment of the whole model ship is derived from the low-pass filtered acceleration in the turning circle and zigzag maneuver tests. Force and moment of the propeller and rudder are separated from that of the whole ship to acquire the hull force and moment terms, based on the principles of the component model. The low-pass filter frequency is verified in prior to dynamics modeling, to find the threshold frequency of 2.5 Hz. The dynamics modeling of the hull is compared with the component modeling by captive model tests. Because of strong correlation between sway velocity, yaw angular velocity, and heel angle, each maneuvering coefficient is not able to be validated, but the whole modeling shows good agreement with the captive model tests.

• 대한조선학회논문집
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• 제53권4호
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• pp.315-328
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• 2016

Techniques for determinating hydrodynamic derivatives of underwater tow-fish using CFD(Computational Fluid Dynamics) are described in this paper. Main components of hydrodynamic derivatives are added mass, linear damping and non-linear damping coefficients. In this study, linear and non-linear damping coefficients for translational velocities are settled by CFD analysis. In order to analyze the underwater tow-fish, UlsanFOAM based on open-source CFD code, namely OpenFOAM, is employed. By simulating pitch and yaw angle variation of underwater tow-fish, 6DOF(Degree-of-Freedom) forces and moments are estimated at each attitudes. In order to determinate the hydrodynamic derivatives, curves(forces and moments vs attitude) for CFD results are fitted by least square methods. To demonstrate the applicability of the current approach, two different problems(impulsive side towing and straight towing) are simulated and all results are validated.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.800-808
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• 2008

This paper presents a localization algorithm of the outdoor wheeled mobile robot using the sensor fusion method based on indirect Kalman filter(IKF). The wheeled mobile robot considered with in this paper is approximated to the two wheeled mobile robot. The mobile robot has the IMU and encoder sensor for inertia positioning system and GPS. Because the IMU and encoder sensor have bias errors, divergence of the estimated position from the measured data can occur when the mobile robot moves for a long time. Because of many natural and artificial conditions (i.e. atmosphere or GPS body itself), GPS has the maximum error about $10{\sim}20m$ when the mobile robot moves for a short time. Thus, the fusion algorithm of IMU, encoder sensor and GPS is needed. For the sensor fusion algorithm, we use IKF that estimates the errors of the position of the mobile robot. IKF proposed in this paper can be used other autonomous agents (i.e. UAV, UGV) because IKF in this paper use the position errors of the mobile robot. We can show the stability of the proposed sensor fusion method, using the fact that the covariance of error state of the IKF is bounded. To evaluate the performance of proposed algorithm, simulation and experimental results of IKF for the position(x-axis position, y-axis position, and yaw angle) of the outdoor wheeled mobile robot are presented.

• 한국항해항만학회지
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• 제46권2호
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• pp.73-81
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• 2022

Currently, shipping by sea is becoming common because of the low price and the safety of goods. The ship is designed as a larger vessel to meet the need of this development. In the design stage, the investigation of hydrodynamic forces acting on the ship hull is very important in predicting the ship's maneuverability. Given that the ship docks at various ports for loading or discharging goods, the ship usually operates in various loading conditions, depending on the site condition and other various factors. Hence, it is necessary to investigate the effect of the loading condition on the hydrodynamic forces acting on the ship, to most accurately determine the maneuverability of the ship. In this study, an experiment of Korea Autonomous Surface Ship (KASS) was conducted at the towing tank of Changwon National University to measure the hydrodynamic forces acting on the KASS. The loading condition considered in this experiment is determined based on the draft, which was decreased by 5% for each loading condition. The smallest draft is 85% of the design draft. The static test as Oblique Towing Test (OTT), Circular Motion Test (CMT), Circular Motion Test with Drift (CMTD) is performed in the various loading conditions. First, the hydrodynamic forces in the Oblique Towing test (OTT) are compared with the result of other institutes. Second, the hydrodynamic forces in various drift angle, yaw rate and loading conditions are measured. Finally, the influence of the loading conditions on the hydrodynamic coefficient is discussed.

• Wind and Structures
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• 제30권5호
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• pp.465-474
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• 2020

Vortex-induced vibrations of a yawed flexible cylinder near a plane boundary are numerically investigated at a Reynolds number Re_n= 500 based on normal component of freestream velocity. Free to oscillate in the in-line and cross-flow directions, the cylinder with an aspect ratio of 25 is pinned-pinned at both ends at a fixed wall-cylinder gap ratio G/D = 0.8, where D is the cylinder diameter. The cylinder yaw angle (α) is varied from 0° to 60° with an increment of 15°. The main focus is given on the influence of α on structural vibrations, flow patterns, hydrodynamic forces, and IP (Independence Principle) validity. The vortex shedding pattern, contingent on α, is parallel at α=0°, negatively-yawed at α ≤ 15° and positively-yawed at α ≥ 30°. In the negatively- and positively-yawed vortex shedding patterns, the inclination direction of the spanwise vortex rows is in the opposite and same directions of α, respectively. Both in-line and cross-flow vibration amplitudes are symmetric to the midspan, regardless of α. The RMS lift coefficient C_L,rms exhibits asymmetry along the span when α ≠ 0°, maximum C_L,rms occurring on the lower and upper halves of the cylinder for negatively- and positively-yawed vortex shedding patterns, respectively. The IP is well followed in predicting the vibration amplitudes and drag forces for α ≤ 45° while invalid in predicting lift forces for α ≥ 30°. The vortex-shedding frequency and the vibration frequency are well predicted for α = 0° - 60° examined.

• 대한의용생체공학회:의공학회지
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• 제37권3호
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• 한국항해학회지
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• 제10권2호
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• pp.97-114
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• 1986

Ship's maneuverability is very important factor in safe ship handling and economical ship operation. Steering characteristics are consisted of course stability and maneuverability. Today in many advanced ship-building countries, they study ship's course stability, using model ship tests, such as straight line tests, rotating arm tests and Planar Motion Mechanism (PMM) etc., in tow in tanks. It is the purpose of this paper to provide ship's handlers with better understanding of steering characteristics and to help them in safe controlling and manevering . In this paper, the author simulated response of various vessels, running straight course with constant speed, and they are disturbed by small external disturbance of one degree yaw angle with no angular velocity . The author used the hydrodynamic derivtives resulted at tests of Davidson's laboratory in Stevens Institute of Technology, New Jersey, U.S.A. Course stability was evaluated and analyzed in various respects, such as block coefficient, ratio of ship's length to beam, draft and rudder area ratio etc. The obtained results are as follows : (1) The ship's course stability is affected by magnitude of block coefficient greatly. In case that the block coefficient is more than 0.7, the deviation varies at nearly same rate but the requistite time to reach the steady course is different. (2) The ship's course stability is affected by magnitude of L/B. When the dimensionless time reaches about 3, the deviation and requisite time to reach the steady course are influenced nearly same. After the dimensionless time is about 3, they change on invariable ratio. (3) The effect to course stability by L/T and RA' can be neglected. (4) The reason why thy VLCC and container feeder vessel are unstable on their course is that their block coefficient is generally more than 0.8 and the ratio of ship's length to beam is about 6.0.

• Journal of Biosystems Engineering
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• 제40권1호
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• pp.28-34
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• 2015

Purpose: This study aimed to install an RTK-GPS (Real Time Kinematic-Global Positioning System) and IMU (Inertial Measurement Unit) on a tractor used in a farm to measure positions, pasture topography, posture angles, and vibration accelerations, translate the information into maps using the GIS, analyze the characteristics of grass harvesting work, and establish new technologies and construction standards for pasture infrastructure improvement based on the analyzed data. Method: Tractor's roll, pitch, and yaw angles and vibration accelerations along the three axes during grass harvesting were measured and a GIS map prepared from the data. A VRS/RTK-GPS (MS750, Trimble, USA) tractor position measuring system and an IMU (JCS-7401A, JAE, JAPAN) tractor vibration acceleration measuring systems were mounted on top of a tractor and below the operator's seat to obtain acceleration in the direction of progression, transverse acceleration, and vertical acceleration at 10Hz. In addition, information on regions with bad workability was obtained from an operator performing grass harvesting and compared with information on changes in tractor posture angles and vibration acceleration. Results: Roll and pitch angles based on the y-axis, the direction of forward movements of tractor coordinate systems, changed by at least $9-13^{\circ}$ and $8-11^{\circ}$ respectively, leading to changes in working postures in the central and northern parts of the pasture that were designated as regions with bad workability during grass harvesting. These changes were larger than those in other regions. The synthesized vectors of the vibration accelerations along the y-axis, the x-axis (transverse direction), and the z-axis (vertical direction) were higher in the central and northwestern parts of the pasture at 3.0-4.5 m/s2 compared with other regions. Conclusions: The GIS map developed using information on posture angles and vibration accelerations by position in the pasture is considered sufficiently utilizable as data for selection of construction locations for pasture infrastructure improvement.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2013년도 추계학술대회 논문집
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• pp.291-291
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• 2013

The interior vehicle noise due to the exterior aerodynamic field is an important topic in the acoustic design of a car. The air flow detached from the A-pillar and impacting the side windows are of particular interest as they are located close to the driver / passenger and provides a lower insulation index than the trimmed car body parts. HMC is interested in the numerical prediction of this aerodynamic noise generated by the car windows with the final objective of improving the products design and reducing this noise. The methodology proposed in this paper relies on two steps: the first step involves the computation of the exterior flow and turbulence induced non-linear acoustic field using the CAA(Computational aeroacoustics) solver CAA++. The second step consists in the computation of the vibro-acoustic transmission through the side window using the finite element vibro-acoustic solver Actran. The internal air cavity including trim component are included in the simulation. In order to validate the numerical process, an experimental set-up has been created based on a generic car shape. The car body includes the windshield and two side windows. The body is made of aluminum and trimmed with porous layers. First, this paper describes the method including the CAA and the vibro-acoustic models, from the boundary conditions to the different components involved, like the windows, the trims and the car cavity is detailed. In a second step, the experimental set-up is described. In the last part, the vibration of the windshield and windows, the total wind noise level results and the relative contributions of the different windows are then presented and compared to measurements. The influence of the flow yaw angle (different wind orientation) is also assessed.