• Ocean Systems Engineering
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• 제9권4호
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• pp.423-448
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• 2019

Very Large Floating Structures (VLFS) are one among the solution to pursue an environmentally friendly and sustainable technology in birthing land from the sea. VLFS are extra-large in size and mostly extra-long in span. VLFS may be classified into two broad categories, namely the pontoon type and semi-submersible type. The pontoon-type VLFS is a flat box structure floating on the sea surface and suitable in regions with lower sea state. The semi-submersible VLFS has a deck raised above the sea level and supported by columns which are connected to submerged pontoons and are subjected to less wave forces. These structures are very flexible compared to other kinds of offshore structures, and its elastic deformations are more important than their rigid body motions. This paper presents hydroelastic analysis carried out on an innovative VLFS called truss pontoon Mobile Offshore Base (MOB) platform concept proposed by Srinivasan and Sundaravadivelu (2013). The truss pontoon MOB is modelled and hydroelastic analysis is carried out using HYDRAN-XR^* for regular 0° waves heading angle. Results are presented for variation of added mass and damping coefficients, diffraction and wave excitation forces, RAOs for translational, rotation and deformational modes and vertical displacement at salient sections with respect to wave periods.

• Journal of Advanced Marine Engineering and Technology
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• 제39권6호
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• pp.614-619
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• 2015

본 연구는 자율무인잠수정의 운동성능을 예측하기 위한 동역학모델에 관한 연구이다. 이 모델은 선체의 동역학 상태변수들과 잠수정의 운동을 결정하는 힘들의 항으로 구성되어 있다. 힘에 영향을 주는 항은 유체정역학적 힘, 부가질량에 의한 힘, 유체동역학적 감쇠력, 그리고 양력과 항력으로 구성된다. 이 힘의 항들을 이론식과 유체동역학해석법에 의해 구하였다. 수중운동 시뮬레이션에는 PD제어기를 사용하였다. 또한 유체항력은 수조시험을 통해서 검증하였고, 무인잠수정의 운동성능은 인근 실해역에서의 경유점 추종시험을 통해서 부분적으로 검증하였다.

• 대한조선학회논문집
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• 제40권4호
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• pp.16-21
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• 2003

The very large container ships have been built recently and those ships have very small structural rigidity compared with the other conventional ships. As a result, the destruction of ship hull is occurred by the springing including to warping phenomena due to encounter waves. In this study, the solutions of hydrodynamic coefficients are obtained by solving the three dimensional source distribution method and the forward speed Green function representing a translating and pulsating source potential for infinite water depth is used to calculating the integral equation. The vessel is longitudinally divided into various sections and the added mass, wave damping and wave exciting forces of each section is calculated by integrating the dynamic pressures over the mean wetted section surface. The equations for six degree freedom of motions is obtained for each section in the frequency domain and stiffness matrix is calculated by Euler beam theory. The computations are carried out for very large ship and effects of bending and torsional ridigity on the wave frequency and angle are investigated.

• 대한조선학회논문집
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• 제38권2호
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• pp.10-18
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• 2001

초대형 해상 공항은 길이나 폭이 수 킬로미터인 거대 구조물이며, 해상에 계류된 해상공항의 설계에 있어 파도에 의한 1차항 파강제력과 2차항 파강제력은 반드시 고려하여야 한다. 본 논문에서 파중에서 돌핀계류된 해상공항에 대한 운동응답의 시간영역해석이 제시된다. 운동방정식에서 동유체력 계수와 파도에 의한 힘은 주파수 영역의 3차원 패널 방법으로부터 계산되며, 동시에 돌핀계류계에 대한 계류력과 수평방향의 표류력이 본 계산에서 얻어진다. 본 논문의 계산 예로 일본에서 실증실험을 수행한 phase I 해상공항에 대해 불규칙파 중에서 시간영역 해석이 제시된다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 추계학술대회 논문집
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• pp.91-96
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• 2001

This paper presents a neural net based nonlinear adaptive controller for an autonomous underwater vehicle (AUV). AUV's dynamics are highly nonlinear and their hydrodynamic coefficients vary with different operational conditions, so it is necessary for the high performance control system of an AUV to have the capacities of learning and adapting to the change of the AUV's dynamics. In this paper a linearly parameterized neural network is used to approximate the uncertainties of the AUV's dynamics, and a sliding mode control is introduced to attenuate the effects of the neural network's reconstruction errors and the disturbances of AUV's dynamics. The presented controller is consist of three parallel schemes; linear feedback control, sliding mode control and neural network. Lyapunov theory is used to guarantee the asymptotic convergence of trajectory tracking errors and the neural network's weights errors. Numerical simulations for motion control of an AUV are performed to illustrate to effectiveness of the proposed techniques.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
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• pp.320-325
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• 1998

Underwater robotic vehicles (URVs) have been an important tool for various underwater tasks because they have greater speed, endurance, depth capability, and safety than human divers. As the use of such vehicles increases, the vehicle control system becomes one of the most critical subsytems to increase autonomy of the vehicle. The vehicle dynamics are nonlinear and their hydrodynamic coefficients are often difficult to estimate accurately. In this paper a new type of fuzzy model-based controller based on Takagi-Sugeno-Kang fuzzy model is designed and applied to the control of of an underwater robotic vehicle. The proposed fuzzy controller : 1) is a nonlinear controller, but a linear state feedback controller in the consequent of each local fuzzy control rule ; 2) can guarantee the stability of the closed-loop fuzzy system ; 3) is relatively easy to implement. Its good performance as well as its robustness to the change of parameters have been shown and compared with the re ults of conventional linear controller by simulation.

• 대한기계학회논문집B
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• 제26권6호
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• pp.795-804
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• 2002

The optimal design code of an axial flow pump has been developed to determine geometric and fluid dynamic variables under hydrodynamic as well as mechanical design constraints. The design code includes the optimization of the complete radial distribution of the geometry by determining the coefficients of 2$^{nd}$ order polynomials to represent the three-dimensional geometry. The optimization problem has been formulated with a nonlinear multivariable objective function, maximizing the efficiency and stall margin, while minimizing the net positive suction head required. Calculation of the objective function is based on the mean streamline analysis and through-flow analysis using the present state-of-the-art model. The optimal solution is calculated using the penalty function method in which the genetic optimizer is employed. The optimized efficiency and design variables are presented in this paper as a function of non-dimensional specific speed in the range, 2$\leq$ $n_{s}$ $\leq$10. The results can be used in preliminary design of axial flow pumps.

• 동력기계공학회지
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• 제2권2호
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• pp.47-54
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• 1998

Underwater robotic vehicles(URVs) have been an important tool for various underwater tasks such as pipe-lining, data collection, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc because they have greater speed, endurance, depth capability, and safety than human divers. As the use of such vehicles increases, the vehicle control system is one of the most critical subsystems to increase autonomy of the vehicle. The vehicle dynamics are nonlinear and their hydrodynamic coefficients are often difficult to estimate accurately. It is desirable to have an intelligent vehicle control system because the fixed-parameter linear controller such as PID may not be able to handle these changes promptly and result in poor performance. In this paper we described and analyzed a new type of fuzzy model-based controller which is designed for underwater robotic vehicles and based on Takagi-Sugeno-Kang(TSK) fuzzy model. The proposed fuzzy controller: 1) is a nonlinear controller, but a linear state feedback controller in the consequent of each local fuzzy control rule; 2) can guarantee the stability of the closed-loop fuzzy system; 3) is relatively easy to implement. Its good performance as well as its robustness to parameter changes will be shown and compared with those of the PID controller by simulation.

• 한국해양공학회지
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• 제25권4호
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• pp.28-35
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• 2011

In this paper, the wave-induced motion characteristics of a floating pendulor are investigated numerically. A floating pendulor is a movable-body-type wave energy converter. This device consists of three main parts (floater, pendulum, and damping plates). In order to obtain the hydrodynamic coefficients and wave exciting forces acting on floating bodies, a higher-order boundary element method (HOBEM) using a wave Green function is applied to the present problems. The hinged motion of a pendulum is simulated by applying the penalty method. In order to obtain a more realistic motion response for a pendulor, numerical body damping is included. First, the wave force and motion characteristics of just a floater are observed with respect to different shape parameters. Then, a coupled analysis of a floater, pendulum, and damping plates is carried out. The relative pitch velocity and wave forces acting on the floating pendulor are compared with those of a fixed pendulor.

• 한국해양공학회지
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• 제28권6호
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• pp.508-516
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• 2014

A numerical method to investigate the non-linear motion characteristics of a TLP is established. A time domain simulation that includes the memory effect using the convolution integral is used to consider the transient effect of TLP motion. The hydrodynamic coefficients and wave force are calculated using a potential flow model based on the HOBEM(higher order boundary element method). The viscous drag force acting on the platform and tendons is also considered by using Morison’s drag. The results of the present numerical method are compared with experimental data. The focus is the nonlinear effect due to the viscous drag force on the TLP motion. The ringing, springing, and drift motion are due to the drag force based on Morison's formula.