• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1580-1586
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• 2003

This paper presents the design and the analysis of a "fish-like underwater robot". In order to develop swimming robot like a real fish, extensive hydrodynamic analysis were made followed by the study of biology of the fishes especially its maneuverability and propel styles. Swimming mode is achieved by mimicking fish-swimming of carangiform. This is the swimming mode of the fast motion using its tail and peduncle for propulsion. In order to generate configurations of vortices that gives efficient propulsion yawing and surging with a caudal fin has applied and in order to submerge and maintain the body balance pitching and heaving motion with a pair of pectoral fin is used. We have derived the equation of motion of PoTuna by two methods. In first method, we use the equation of motion of underwater vehicle with the potential flow theory for the power of propulsion. In second method, we apply the method of the equation of motion of UVM(Underwater Vehicle-Manipulator). Then, we compare these results.

• 한국전산유체공학회:학술대회논문집
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• 2009.11a
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• pp.159-163
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• 2009

In this paper, the fluid dynamic forces and performances of a moving airfoil in the low Reynolds number flow is addressed. In order to calculate the necessary propulsive force for the moving airfoil in a low Reynolds number flow, a lattice-Boltzmann method is used. The critical Reynolds and Strouhal numbers for the thrust generation are investigated for the four propulsion types. It was found that the Normal P&D type produces the largest thrust with highest efficiency among the investigated types. The leading edge of the airfoil has an effect of deciding the force production types, whereas the trailing edge of the airfoil plays an important role in augmenting or reducing the instability produced by the leading edge oscillation. It is believed that present results can be used to decide the optimal propulsion devices for the given Reynolds number flow.

• Journal of Ocean Engineering and Technology
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• v.9 no.2
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• pp.71-74
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• 1995

A numerical model capable of simulating a 2-D airfoil flying over in the vicinity of the waves is discussed. Instead of treating the problem as a heaving oscillation one above the rigid flat wall, sources are distributed on the prescribed wave profile. The wave deformation due to the airfoil is assumed to be negligible and treated as a rigid undulated wall. The source and vortex are distributed on the surface of the foil. It is found that the variation of $C_L$ with wave steepness in severe and that the lift variation due to waves decreases as the wing height above the water surface increases.

• Journal of Ocean Engineering and Technology
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• v.25 no.2
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• pp.36-46
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• 2011

A two-dimensional floating body with a moon pool under forced heave motion, including a piston mode, is numerically simulated. A dynamic CFD simulation is carried out to thoroughly investigate the flow field around a two-dimensional moon pool over various heaving frequencies. The numerical results are compared with experimental results and a linear potential program by Faltinsen et al. (2007). The effects of vortex shedding and viscosity are investigated by changing the corner shapes of the floating body and solving the Euler equation, respectively. The flow fields, including the velocity, vorticity, and pressure fields, are discussed to understand and determine the mechanisms of wave elevation, damping, and sway force.

• Journal of the Korea Institute of Building Construction
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• v.1 no.1
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• pp.160-168
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• 2001

This study aims at the development of computer program for the deformation analysis of soft ground, and using this computer program, study the constraint effect of deformation heaving, lateral displacement of the soft ground reinforced with improvement of soft ground up to hard strata, under intact state(natural). The following results are obtained. 1. Improvement of soft ground to the hard strata works well against the settlement of neighboring ground. 2. the larger the rigidity or width of improvement of layer to hard strata is, the less settlement occurs. 3. Improvement of soft ground to the hard strata is of no use.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.146-154
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• 2000

An $H\infty$ controller is designed for active suspensions of vehicles using 7-degree-of-freedom full-car model. Its performance robustness as well as stability robustness to system parameter variations and unmodelled dynamics are assured through the $\mu$-framework. The performance of the $H\infty$ controller is compared with that of a LQC controller in compute simulations. From the simulations it is found that the active suspension with the $H\infty$ controller reduces the acceleration and motion of the sprung mass in the heaving rolling and pitching directions when the car is driven on a normal road or through an asymmetric bump. The suspension stroke and the road holding capability are also improved with a relatively small level of power consumption. Overall the $H\infty$ controller shows a more robust performance than that of the LQG design.

• Proceedings of the Korean Geotechical Society Conference
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• 2010.09a
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• pp.546-552
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• 2010

Seasonal frozen ground affects structural behavior in South Korea. Frost and heaving of seasonal frozen ground results in the critical damage of roadway, railroad, and buried pipeline. It has been widely used to substitute frost susceptible soils with granular soils. This paper presents experimental investigation on the effectiveness of soil-shredded tire and soil-expanded polystylene (EPS) mixtures to reduce frost depth and force around a buried pipeline. Experimental data such as measured temperature profile and the deformation of buried pipeline were carefully observed and provide the evidence of the effectiveness of soil mixtures.

• Proceedings of the Korean Geotechical Society Conference
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• 2010.09a
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• pp.1103-1109
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• 2010

In this paper in order to analyze the mechanical properties, the permeability and the freezing properties of SB-2 materials which are mainly used with the subbase materials on the rod. For this ends, a series of the physical test, the permeability test and the freezing test were carried out the samples mixed the small aggregate and the big aggregate from which was re-classified the SB-2. From the test results, it was analyzed the characteristics of permeability and the characteristics of freezing of the samples.

• Journal of Ocean Engineering and Technology
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• v.25 no.1
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• pp.1-7
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• 2011

The radiation of water waves by a heaving truncated circular cylinder with damping plate is solved in the frame of the three-dimensional linear potential theory. The damping plate has a distinct advantage in reducing the motion response of a floating circular cylinder by increasing the added mass and the damping coefficient. Using the matched eigenfunction expansion method, the characteristics of hydrodynamic added mass and the damping coefficient are investigated with various system parameters, such as the radius and submergence depth of the damping plate. It is found that both added mass and the damping coefficient are significantly increased due to the arranged features of the larger damping plate with shallow submergence, which are positive factors as a motion reduction device of the floating offshore platform. Also the numerical results for an oscillating submerged disk show that the added mass is negative and that the damping coefficient has a peak value at resonant frequency when submergence depth is sufficiently small.

• Journal of the Korean Institute of Navigation
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• v.1 no.1
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• pp.45-62
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• 1977

The advanced researches of the ship's motion in the seaway can predict the heaving, pitching and slamming of ship's motion. The researches as of today are that of displacement type such as a small typical fishing boat and U, UV and V bow ship forms under low speed. In recent day, the study of behaviours of high speed planning boat in the regular waves has been carried out by Bessho [5]. The calculation about behaviours of a high speed vessel in the longitudinal regular waves is calculated by Ordinary Strip Method in this paper. The data of the results were discussed and compared with Bessho's results. The conclusions deduced from this study are as follow, (1) The acceleration of motion calculated by the O.S.M. is similar with Bessho's data for the Fn 0.5 (2) The amplitudes of the behaviours of motions take peak at 1.0<λ/L<1.4.