• 대한토목학회논문집
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• 제41권3호
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• pp.327-330
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• 2021

수처리 콘크리트 구조물과 건축 구조물 설계시 일반적으로 부력의 안정성 검토는 행해지고 있으나, 고정하중의 중심과 부력의 중심 사이의 편심으로 인한 부력모멘트에 대한 안정성 검토는 행해지지 않고 있다. 본 검토에서는 부력이 커짐에 따라 고정하중(W)과 부력(B)의 합력의 작용점과 반력분포를 고찰하여 부력모멘트 회전지점의 형성을 규명함으로써 수처리콘크리트구조물과 건축 구조물의 부력모멘트에 의한 회전부상 안전율식을 도출하여 부력모멘트에 대한 안정성 검토방법을 제시하였다.

• 전기학회논문지
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• 제65권12호
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• pp.2037-2045
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• 2016

This paper presents a fuzzy-model-based design approach to the buoyancy and moment controls of a class of nonlinear underwater glider. Through the linearization and the sector nonlinearity methodologies, the underwater glider dynamics is represented by a Takagi-Sugeno (T-S) fuzzy model. Sufficient conditions are derived to guarantee the asymptotic stability of the closed-loop system in the format of linear matrix inequality (LMI). Simulation results demonstrate the effectiveness of the proposed buoyancy and moment controllers for the underwater glider.

• 한국해양공학회지
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• 제28권6호
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• pp.546-551
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• 2014

This paper addresses a feedback linearization control problem for the nonlinear dynamics of an underwater glider system. We consider the buoyancy and moment as control inputs, which come from the mass variation and elevator control, respectively. Moment-to-force coupling increases the nonlinearities, which make the controller design difficult. By using a feedback linearization technique, we convert the nonlinear underwater glider to an equivalent linear model and design a linear controller. The controller for the equivalent converted linear system is designed using sufficient conditions in terms of linear matrix inequalities. Then, the control input of the nonlinear model of an underwater glider is formulated from the linear control input. An experimental examination is implemented to verify the effectiveness of the proposed technique.

• 설비공학논문집
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• 제19권12호
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• pp.831-841
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• 2007

This work is to extend the elliptic operator, which has been already adopted in turbulent stress model, to fully developed turbulent buoyant channel flows with changing the orientation of the buoyancy vector to be perpendicular to the channel walls. The turbulent heat flux models based on the elliptic concept are employed and closely linked to the elliptic blending second moment closure which is used for the prediction of Reynolds stresses. In order to reflect the stable or unstable stratification conditions, the present model introduces the gradient Richardson number into the thermal to mechanical time scale ratio and model coefficients. The present model has been applied for the computation of stably and unstably stratified turbulent channel flows and the prediction results are directly compared to the DNS data.

• 설비공학논문집
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• 제15권4호
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• pp.274-286
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• 2003

Numerical simulations are performed to investigate the turbulent convective heat transfer of the supercritical carbon dioxide flows in vertical and horizontal square ducts. The gas cooling process at the supercritical state experiences a sudden change in thermodynamic and transport properties. This results in the extraordinary variations of the heat transfer coefficients in the supercritical state, which are much different from those of single or two phase flows. Algebraic second moment closure which can include the effects of large thermophysical property variations of carbon dioxide and of buoyancy is employed to model the Reynolds stresses and turbulent heat fluxes in the governing equations. The previous correlations for the turbulent heat transfer coefficient for the supercritical carbon dioxide flows couldn't reflect the buoyancy effect. The present results are used to establish a new heat transfer coefficient correlation including the effects of large thermophysical property variation and buoyancy on in-duct cooling process of supercritical carbon dioxide.

• 한국해양공학회지
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• 제38권3호
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• pp.137-147
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• 2024

Green hydrogen presents a sustainable and environmentally friendly solution for clean energy production and transportation. This study aims to identify the optimal profile of green hydrogen transportation risers originating from a floating offshore wind turbine (FOWT) integrated with a hydrogen production facility. Employing the Cummins equation, a fully coupled dynamic analysis for FOWT with a flexible riser was conducted, with the tower, mooring lines, and risers described using a lumped mass line model. Initially, motion response amplitude operators (RAOs) were compared with openly published results to validate the numerical model for the FOWT. Subsequently, a parametric study was conducted on the length of the buoyancy module section and the upper bare section of the riser by comparing the riser's tension and bending moment. The results indicated that as the length of the buoyancy module increases, the maximum tension of the riser decreases, while it increases with the lengthening of the bare section. Furthermore, shorter buoyancy modules are expected to experience less fatigue damage, with the length of the bare section having a relatively minor impact on this phenomenon. Consequently, to ensure safety under extreme environmental conditions, both the upper bare section and the buoyancy module section should be relatively short.

• 로봇학회논문지
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• 제12권2호
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• International Journal of Precision Engineering and Manufacturing
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• 제4권2호
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• pp.13-22
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• 2003

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason. the exact model of the undersea robot manipulator is difficult to obtain. In this paper, instead of having efforts to get the exact model of the robot dynamics, a control-based approach was performed. We modeled the dynamics of the undersea robot manipulator whose parameters are unknown, and then applied a proposed direct adaptive and robust control, which is different from previous studies. The unknown added mass, and added moment of inertia, drag force and friction are estimated by the direct adaptive control scheme, and the drag force which is dominant disturbance is compensated by the robust control. Also, stability of the proposed control scheme is analyzed.

• 대한기계학회논문집B
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• 제29권11호
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• pp.1265-1276
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• 2005

The elliptic conceptual second moment models for turbulent heat fluxes, which are proposed on the basis of elliptic-blending and elliptic-relaxation equations, are applied to calculate the combined forced and natural turbulent convection in a vertical plane channel. The models satisfy the near-wall balance between viscous diffusion, viscous dissipation and temperature-pressure gradient correlation, and also have the characteristics of approaching its respective conventional high Reynolds number model far away from the wall. Also the models are closely linked to the elliptic blending model which is used for the prediction of Reynolds stress. In order to calibrate the heat flux models, firstly, the distributions of mean temperature and scala flux in fully developed channel flow with constant wall difference temperature are solved by the present models. The buoyancy effect on the turbulent characteristics including the mean velocity and temperature, the Reynolds stress tensor, and the turbulent heat flux vector are examined. In the opposing flow, the turbulent transport is greatly enhanced with both the Reynolds stresses and the turbulent heat fluxes being remarkably increased; whereas, in the aiding flow, the opposite change is observed. The results of prediction are directly compared to the DNS to assess the performance of the model predictions and show that the behaviors of the turbulent heat transfer in the whole flow region are well captured by the present models.

• 한국해양공학회지
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• 제29권6호
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• pp.436-444
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• 2015

A submerged body is sensitive to changes in the roll moment because of the small restoring moment and moment of inertia. Thus, a method for predicting the roll-related hydrodynamic coefficients is important. This paper describes a deduction method for the hydrodynamic coefficients based on the results of a coning motion test. A resistance test, static drift test, and coning motion test were performed to obtain the coefficients in the towing tank of Seoul National University. The sum of the hydrodynamic force, inertial force, gravity, and buoyancy was measured in the coning motion test. The hydrodynamic force was deduced by subtracting the inertial force, gravity, and buoyancy from the measured force. The hydrodynamic coefficients were deduced using the regression method.