• Journal of Ship and Ocean Technology
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• v.4 no.2
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• pp.24-37
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• 2000

The purpose of this paper is to study the upstream waves in front of an advancing arbitrary hull shape in a restricted water channel. Conventionally, in a restricted water channel, shallow water effects are amplified because of the finite water depth and width. When the effects of shallow water and the restricted channel width are severe, upstream waves propagate forward from the fore-body of the advancing hull. In this study, numerical simulations are carried out for the relevant analysis of the flow phenomena by the draft variation of advancing hull in a restricted water channel. Numerical simulations are done with a finite-difference method based on the MAC scheme in a rectangular grid system.

• Nuclear Engineering and Technology
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• v.32 no.2
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• pp.169-179
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• 2000

A detailed numerical analysis of the evolution of thermal stratification in a curved piping system in a nuclear power plant is performed. A finite volume based thermal-hydraulic computer code has been developed employing a body-fitted, non-orthogonal curvilinear coordinate for this purpose. The cell-centered, non-staggered grid arrangement is adopted and the resulting checkerboard pressure oscillation is prevented by the application of momentum interpolation method. The SIMPLE algorithm is employed for the pressure and velocity coupling, and the convection terms are approximated by a higher-order bounded scheme. The thermal-hydraulic computer code developed in the present study has been applied to the analysis of thermal stratification in a curved duct and some of the predicted results are compared with the available experimental data. It is shown that the predicted results agree fairly well with the experimental measurements and the transient formation of thermal stratification in a curved duct is also well predicted.

• Journal of Drive and Control
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• v.15 no.3
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.03a
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• pp.127-130
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• 1998

In this paper, we propose a method of cooperative control(T-cell modeling) and selection of group behavior strategy(B-cell modeling) based on immune system in distributed autonomous robotic system(DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying immune system to DARS, a robot is regarded as a B cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-call respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is stimulated and suppressed by other robot using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based of clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy. By T-cell modeling, adaptation ability of robot is enhanced in dynamic environments.

• Journal of Ocean Engineering and Technology
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• v.7 no.1
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• pp.33-55
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• 1993

선수충격파의 문제를 푸는데 있어서 Boundary Integral Method(BIM)의 여러가지 수치 해석방법이 검토되었으며, 특히 여러가지 Time stepping scheme, Green function, far-field 조건등에 따른 수치해석안정성과 정확성의 상관관계가 연구되었다. von Neumann 안정성해석과 matrix 안정성해석 등을 이용한 선형 안정성해석을 기초로하여, 수치해석방법의 안정성 여부를 체계적으로 조사할 수 있는 parameter(Free Surface Stability number)를 설정하고, 이 parameter의 변화에 따른 비선형 운동해석을 연구하였다. 그 결과 비선형성이 심하지 않은 기진파의 경우에서는 비선형 운동해석의 수치해석 안정성의 선형 수치해석 안정성과 큰 차이가 없음을 알 수 있게 된다.

• 한국전산유체공학회:학술대회논문집
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• 1999.05a
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• pp.11-22
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• 1999

A numerical prediction method has been proposed to predict non-linear free surface oscillation in a three-dimensional container. The fluid motions are numerically predicted with Navier-Stokes equations discretized in a Lagrangian scheme with sufficient numerical accuracy. The profile of a free surface is precisely represented with three-dimensional body-fitted coordinates (BFC), which are regenerated in each computational step on the basis of the arbitrary Lagrangian-Eulerian (ALE) formulation. In order to confirm the reliability of the computational method, it was firstly applied to three-dimensional flows within complicated-shaped rigid boundaries, such as curved pipes and ducts. Than it was applied to benchmark computations related to free surface oscillations. Following these basic verifications, non-linear sloshings in a cylindrical tank and transitions from sloshing to swirling motions were numerically predicted. Throughout these computations, the applicability of the present computational method has been confirmed and some of the predicted free surface motions were visualized as sequential images and animations to understand their dynamic futures.

• Journal of the Korean Institute of Navigation
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• v.10 no.1
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• pp.129-138
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• 1986

A matrix partitioning method is proposed for the 2-D motion analysis of floating bodies. For the numerical solution, the boundary of a floating body is approximated with a series of line segments and the governing integral equation is transformed into a system of linear equations. A new solution procedure of resulting linear equation with complex coefficients is formulated and programmed using a matrix partitioning scheme and the Choleski decomposition. From the case study, it is found that the proposed method is efficient in the motion analysis of floating bodies, especially in the calculation of hydrodynamic coefficients. Also, it requires smaller memory size and less computing time compared with conventional methods.

• Journal of the Institute of Convergence Signal Processing
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• v.3 no.1
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• pp.61-66
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• 2002

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used for the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and the second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined parallel fuzzy controller. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Journal of Korean Institute of Industrial Engineers
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• v.42 no.2
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• pp.122-128
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• 2016

The purpose of this study is to improve the firing elevation driving method for towed howitzer to prevent the musculoskeletal disorders. To adjust the firing elevation, it is required to rotate the hand wheel and this work has been done manually in the firing test range as the same method as field artillery troops. In the firing test range, the motor-driven firing elevation adjustment device was developed to improve the working efficiency and safety. These were compared by using posture classification scheme of RULA and REBA. It was measured elapsed time to investigate the improved operational efficiency. The optimal posture of upper body to operate the hand wheel for field artillery troops was proposed.

• Journal of the Korea Institute of Military Science and Technology
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• v.2 no.2
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• pp.110-116
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• 1999

Supersonic flows over an EFP(explosively formed projectile) have been calculated by a high-order conservation law scheme and two-layer $$textsc{k}$-{\varepsilon}$ model on hybrid viscous unstructured mesh. To verify the accuracy and robustness of the developed code, two basic flows about airfoils are computed and results are compared with existing experimental data and computational results. The comparisons confirm the validity of the code and justify our use for such a highly supersonic and viscous flow over a blunt body. Complex flow features of supersonic flows over an EFP are clearly captured and show agreements with the flow visualization. From the interaction of oblique shocks near the surface of flare, flow structures, that were not identified by previous experimental results, are discovered as a result of present computation.