• Ocean Systems Engineering
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• v.3 no.4
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• pp.327-348
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• 2013

An Oscillating Water Column (OWC) is a relatively practical and convenient device that converts wave energy to a usable form, which is electricity. The OWC is kept inside a fixed truncated vertical cylinder, which is a hollow structure with one open end submerged in the water and with an air turbine at the top. This research adopts potential theory and Galerkin methods to solve the fluid motion inside the OWC. Using an air-water interaction model, OWC design for energy extraction from regular wave is also explored. The hydrodynamic coefficients of the scattering and radiation potentials are solved for using the Galerkin approximation. The numerical results for the free surface elevation have been verified by a series of experiments conducted in the University of New Orleans towing tank. The effect of varying geometric parameters on the response amplitude operator (RAO) of the OWC is studied and modification of the equation for evaluating the natural frequency of the OWC is made. Using the model of air-water interaction under certain wave parameters and OWC geometric parameters, a computer program is developed to calculate the energy output from the system.

• Proceedings of the KAIS Fall Conference
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• 2010.11b
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• pp.546-550
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• 2010

무인잠수정이 원하는 경로를 추종할 수 있도록 안정적인 운항제어를 수행하기 위해서는 잠수정의 동역학적 특성을 정확히 파악하는 것이 필요하다. 수중에서 거동하는 무인잠수정의 동역학적 특성은 제어입력뿐만 아니라 유체력계수에 의해 주로 결정되므로, 이러한 계수값을 정확하게 아는 것이 중요한 요소라 할 수 있다. 일반적으로 유체력계수는 PMM 시험과 같은 실험적 방법을 통하여 얻게 되지만 실험방법의 어려움과 실험장비들의 부정확성으로 인한 오차에 의하여, 얻어진 값들의 신뢰성이 많이 저하된다. 계수값들을 구할 수 있는 다른 방법으로는, 확장칼만필터 등과 같은 모델기반 추정 알고리즘을 통하여 유체력계수를 추정하는 것이다. 본 논문에서는 확장칼만필터를 이용하여 유체력계수를 추정하도록 하였으며, 설계된 추정 알고리즘의 성능을 검증하기 위하여 기존에 수행된 PMM 시험에 의해 얻어진 유체력계수의 실험값과 비교 분석하였다. 또한 본 논문에서는 만타형 무인잠수정을 이용하여 원하는 경로를 추종할 수 있도록, 추정된 유체력계수를 사용하여 수심제어 및 방향제어를 위한 슬라이딩 모드 제어기를 설계하였으며, 충분한 정확도를 가지고 원하는 경로를 추종함을 시뮬레이션을 통해 확인하였다.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.803-810
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• 1992

With increases in the rotational speed of hydraulic machine, studies on the hydrodynamic characteristics of supercavitating cascade are important on the view of flow analysis and design of fluid machinery. In the present paper, the complex functions of nonlinear theory corresponding to the flow of supercavitating cascade can be obtained by distributing singulary singulary points such as sources, vortexes and doublets on hydrofoil and free streamline. The numerical calculations on the closed wake model and semi-closed wake model are carried out in order to show the flow characteristics around the supecavitating cascade with finite with finite cavity length. As the result of this study, the flow characteristics such as lift, drag and cavitation coefficients are predicted by the flow conditions of supercavitating cascade in the fluid machinery.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2980-2988
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• 2000

In this paper, H(sub)$\infty$ depth and course controllers of autonomous underwater vehicles using H(sub)$\infty$ servo control are proposed. An H(sub)$\infty$ servo problem is foumulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H(sub)$\infty$servo problem is as follows; firest, this problem is modified as an H(sub)$\infty$ control problem for the generalized plant that includes a reference input mode, and than a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach, The H(sub)$\infty$depth and course controllers are designed to satisfy the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(was force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controlled are evaluated with computer simulations, and finally these simulation results show the usefulness and applicability of the propose H(sub)$\infty$ depth and course control systems.

• Journal of the Society of Naval Architects of Korea
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• v.53 no.4
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• pp.266-274
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• 2016

Many researchers have been trying to improve the propulsion efficiency of a propeller. In this study, the numerical analysis is carried out for the POW(Propeller Open Water test) performance of a propeller equipped with an energy saving device called PHVC(Propeller Hub Vortex Control). PHVC is aimed to control the propeller hub vortex behind the propeller so that the rotational kinetic energy loss can be reduced. The unsteady Reynolds Averaged Navier-Stokes(URANS) equations are assumed as the governing flow equations and are solved by using a commercial CFD(Computational Fluid Dynamics) software, where SST k-ω model is selected for turbulence closure. The computed characteristic values, thrust, torque and propulsion efficiency coefficients for the target propeller with and without PHVC and the local flows in the propeller wake region are validated by the model test results of KRISO LCT(Large Cavitation Tunnel). It is concluded from the present numerical results that CFD can be a good promising method in the assessment of the hydrodynamic performance of PHVC in the design stage.

• Journal of Ocean Engineering and Technology
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• v.16 no.1
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• pp.8-15
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• 2002

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 dynamic, and the basis function vector of network is constructed according to th AUV's physical properties. A sliding mode control scheme is introduced to attenuate the effect of the neural network's reconstruction errors and the disturbances in AUV's dynamics. Using Lyapunov theory, the stability of the presented control system is guaranteed as well as the uniformly boundedness of tracking errors and neural network's weights estimation errors. Finally, numerical simulations for motion control of an AUV are performed to illustrate the effectiveness of the proposed techniques.

• Journal of Ocean Engineering and Technology
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• v.23 no.1
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• pp.16-23
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• 2009

The three-dimensional ship motion with forward speed was solved by a finite element method in the time domain. A boundary value problem was described in the frame of a fixed-body reference, and the problem was formulated according to Double-Body and Neumann-Kelvin linearizations. Laplace's equation with boundary conditions was solved by a classical finite element method based on the weak formulation. Chebyshev filtering was used to get rid of an unwanted saw-tooth wave and a wave damping zone was adopted to impose a numerical radiation condition. The time marching of the free surface was performed by the 4th order Adams-Bashforth-Moulton method. Wigley I and Wigely III models were considered for numerical validation. The hydrodynamic coefficients and wave exciting forces were validated by a comparison with experimental data and the numerical results of the Wigley I. The effects of the linearization are also discussed. The motion RAO was also checked with a Wigley III model through mono-chromatic and multi-chromatic regular waves.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.264-269
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• 2002

In this paper, Η$_{\infty}$ depth and course controller of an AUV(Autonomous Underwater Vehicle) using Η$_{\infty}$ servo control is proposed. The Η$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the Η$_{\infty}$ servo problem is as fellows: first, this problem is modified as an Η$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The Η$_{\infty}$ depth and course controller are designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed Η$_{\infty}$ depth and course control system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.215-215
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• 2000

In this paper, depth and course controllers of autonomous underwater vehicles using H$_{\infty}$ servo control are proposed. An H$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H$_{\infty}$ servo problem is as follows: first, this problem is modified as an H$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The H$_{\infty}$ depth and course controllers ate designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed H$_{\infty}$ depth and course control systems.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.11
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• pp.103-109
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• 2012

Samsung Thales has developed a small-sized autonomous underwater vehicle "BOTO" verified by a mathematical model simulation. The hydrodynamic coefficients and drag force were experimented at circulating water channel for validating cruising performance of the AUV. Based on the mathematical model, we simulated turning radius and way-point tracking on horizontal plane using way-point tracking algorithm. In this paper we introduce the vehicle system and the sea trial test results will be shown.