• 대한조선학회논문집
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• 제44권3호
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• pp.323-331
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• 2007

Proposed Manta-type Unmanned Undersea Vehicle(UUV) turned out to have the tendency of dynamic instability in vertical plane, and moreover to have that of so strong dynamic stability in horizontal plane as to cause another problem in turning motion due to negative value of sway damping lever. The authors discussed the changes in appendage design for improvement of dynamic stability of UUV in vertical and horizontal planes. As a result, the dynamic stability in vertical plane was improved by increasing the area of horizontal stern planes. and the dynamic stability in horizontal plane was also improved by removal of lower vertical plate and by adjusting the area and position of upper vertical plate simultaneously.

• 대한조선학회논문집
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• 제43권4호
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• pp.399-413
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• 2006

Mathematical model for coupled motions of Manta-type Unmanned Undersea Vehicle(UUV) moving with six degrees of freedom, is formulated. Furthermore, a calculation method for estimating the linear hydrodynamic derivatives acting on UUV, is proposed, and some of the estimated linear hydrodynamic derivatives are compared with results of captive model experiment. Based on linear dynamic model of UUV, a study was made to examine dynamic stability and turning ability in horizontal plane. And directional stability and required elevation rudder angles for neutrally operating in vertical plane, are also discussed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.31-35
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• 2001

Three dimensional dynamic cutting can be postulated as an equivalent orthogonal dynamic cutting through the plane containing both the cutting vector and the chip flow velocity vector in cutting process. An analytical expression of dynamic cutting force is obtained from the cutting parameters determined by the static three dimensional cutting experiments. Particular attention is paid to the energy supplied to the vibration of the tool behind the vertical vibration and the direction. The phase lag of the horizontal vibration of the tool behind the vertical vibration and the direction angel of the fluctuating cutting force must be regarded in point of stability limits. Chatter vibration can effectively be suppressed by enlarging the dynamic rigidity of the cutting system in the vertical cutting force direction. A good agreement is found between the stability limits predicted by theory and the critical width of cut determined by experiments.

• 한국정밀공학회지
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• 제10권4호
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• pp.216-226
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• 1993

Three dimensional cutting is considered as an equivalent orthogonal cutting through the plane containing both the cutting velocity vector and the chip flow velocity vector in dynamic cutting process. An analytical expression of dynamic cutting force is obtained from the cutting parameters determined by the static cutting. Particular attention is paid to the energy supplied to the vibratory system of cutting tool with two degree of freedom. In this approach, the phase lag of the horizontal vibration of the tool behind the vertical vibration and the direction angle of the fluctuating cutting force is considered in point of stability limits. Chatter vibration can be effectively suppressed by relatively increasing the spring constant and the damping coefficient of the cutting system in the vertical cutting force direction. A good agreement is found between the stability limits predicted by theoretical value and experimental results.

• 대한조선학회논문집
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• 제42권6호
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• pp.551-558
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• 2005

In this paper, horizontal manoeuvrability of an underwater vehicle near free surface was investigated. Planar Motion Mechanism(PMM) tests were performed at the shallow depth within 4.5 times of vehicle's diameter. Hydrodynamic coefficients related to the horizontal movement were estimated from the measured data using Least SQuare(LS) method and analyzed at each submerged depth. Furthermore, horizontal dynamic stability, trajectory of turning and zigzag test were investigated for the various depths. As underwater vehicle is positioned nearer to the free surface, forces increase and moment decreases. Tested model was found to be stable only at the depth 0.5 times of vehicle's diameter.

• 한국해양공학회지
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• 제30권1호
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• pp.25-31
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• 2016

In this study, hydrodynamic coefficients were obtained from a Rotating Arm (RA) test, which is one of the captive model tests used to provide accurate coefficients in the control motion equation of an underwater vehicle. The RA test was carried out at the RA facility of ADD (Agency for Defense Development), and the forces and moments acting on the underwater vehicle were measured using a six-axis waterproof gage. A multiple regression analysis was used in the analysis of the measured data. The experimental results were also verified by comparison with the theoretical values of the previous linear coefficients. In addition, the stability indices in the horizontal plane were calculated using the linear and nonlinear coefficients, and the dynamic stability of the underwater vehicle was estimated to have a good dynamic performance with a depth ratio of 6.0.

• Structural Engineering and Mechanics
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• 제58권2호
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• pp.243-257
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• 2016

The aim of this study is to investigate the seismic resistance of dry stone arches under in-plane seismic loading. For that purpose, several numerical analyses were performed using the combined finite-discrete element method (FDEM). Twelve types of arches with different ratios of a rise at the mid-span to the span, different thicknesses of stone blocks and different numbers of stone blocks in the arch were subjected to an incremental dynamic analysis based on excitation from three real horizontal and vertical ground motions. The minimum value of the failure peak ground acceleration that caused the collapse of the arch was adopted as a measure of the seismic resistance. In this study, the collapse mechanisms of each type of stone arch, as well as the influence of the geometry of stone blocks and stone arches on the seismic resistance of structures were observed. The conclusions obtained on the basis of the performed numerical analyses can be used as guidelines for the design of dry stone arches.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권5호
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• pp.817-832
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• 2015

This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV) in the horizontal plane. A nonlinear three Degree of Freedom (DOF) underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE) conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat's Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1995년도 춘계공동학술대회논문집; 전남대학교; 28-29 Apr. 1995
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• pp.869-879
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• 1995

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of learning control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. In the previous paper, I had studied the use of such controllers in a decentralized system, such as a robot with the controller for each link acting independently. The basic result of the paper is to show that stability of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized learning in the coupled system, provided that the sample time in the digital learning controller is sufficiently short. In this paper, we present two examples. The first illustrates the effect of coupling between subsystems in the system dynamics, and the second studies the application of decentralized learning control to robot problems. The latter example illustrates the application of decentralized learning control to nonlinear systems, and also studies the effect of the coupling between subsystems introduced in the input matrix by the discretization of the system equations. The conclusion is that for sufficiently small learning gain, and sufficiently small sample time, the simple learning control law based on integral control applied to each robot axis will produce zero tracking error in spite o the dynamic coupling in the robot equations. Of course, the results of this paper have much more general application than just to the robotics tracking problem. Convergence in decentralized systems is seen to depend only on the input and output matrices, provided the sample time is suffiently small.

• 한국지반공학회논문집
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• 제34권3호
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• pp.13-27
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• 2018

사석경사식 방파제의 안정성에 있어 파랑에 의한 사석마운드내의 침투흐름의 영향이 연구되었다. 침투흐름은 일반적으로 태풍시 방파제 주변 수위차에 의해 발생된다. 기존 사석마운드의 안정해석법은 정적해석으로 활동면 상의자중(콘크리트블록, 사석, 필터, 보호층)에 의한 수직력과 콘크리트 블록에 작용하는 파압에 의한 수평력(Goda 식으로 산정)의 힘의 평형조건으로 결정된다. 그러나 이 정적방법은 사석마운드 내의 파랑에 의한 침투흐름을 고려할 수 없다. 이런 침투흐름은 사석마운드의 안정성을 감소시킬 수 있다. 본 연구에서는 침투 작용시 사석경사식 방파제의 안정성에 대해 CFD 프로그램(OpenFOAM)과 한계평형해석법(GeoStudio)을 이용하여 검토하였다. 수치해석결과 침투로 인해 사석경사식 방파제의 안정성이 감소하는 것으로 나타났다. 또한 수치해석 결과는 사석마운드의 안정성이 시간에 따라 변하는 것을 보여주었다. 특히 파가 방파제를 월류하고 침투류에 의해 상치콘크리트 측면과 하부에 강한 양압력과 사석마운드 내부에 간극수압이 크게 발생하는 시점에 가장 불안정 상태를 보이는 것으로 나타났다. 따라서 동적 파랑에 의한 침투류의 영향을 고려한 동적해석도 정적해석과 함께 검토할 필요가 있다.