• Structural Engineering and Mechanics
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• v.63 no.1
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• pp.37-46
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• 2017

This paper is concerned with the numerical study on the resonance response of a rigid spar-type floating platform in coupled heave and pitch motion. Spar-type floating platforms, widely used for supporting the offshore structures, offer an economic advantage but those exhibit the dynamically high sensitivity to external excitations due to their shape at the same time. Hence, the investigation of their dynamic responses, particularly at resonance, is prerequisite for the design of spar-type floating platforms which secure the dynamic stability. Spar-type floating platform in 2-D surface wave is assumed to be a rigid body having 2-DOFs, and its coupled dynamic equations are analytically derived using the geometric and kinematic relations. The motion-variance of the metacentric height and the moment of inertia of floating platform are taken into consideration, and the hydrodynamic interaction between the wave and platform motions is reflected into the hydrodynamic force and moment and the frequency-dependent added masses. The coupled nonlinear equations governing the heave and pitch motions are solved by the RK4 method, and the frequency responses are obtained by the digital Fourier transform. Through the numerical experiments to the wave frequency, the resonance responses and the coupling in resonance between heave and pitch motions are investigated in time and frequency domains.

• Water for future
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• v.27 no.2
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• pp.147-154
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• 1994

The occurrence condition of debris fiow due to rainfall is given by solving the equations for fiow on a slope. The solution shows that a debris fiow will occur on a slope when the accumulated rainfall within the time of concentration exceeds a certain value determined by the properties of the slope. To estimate this critical value, the system analysis technique would be commendable. In this study, a procedure to fine the critical rainfall from the rainfall data whith and without debris flows is proposed. Reliability of this method is verified by applying to the debris flows in Unzen Volcano which recently began to erupt. Discharge of debris flow in a stream is obtained by solving the equation of continuity using the kinematic wave theory and assuming the cross sectional area to be a function of discharge. The computed hydrographs agree weel with the ones observed at the rivers in Sakurajima and Unzen Volcanos. It is found from the derived equation that the runoff intensity of debris flow is in proportion to the rainfall intensity and accumulated rainfall, jointly. This gives a theoretical basis to the conventional method which has been widely used.

• Journal of Ocean Engineering and Technology
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• v.36 no.2
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• pp.101-107
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• 2022

Dean (1965) proposed the use of the root mean square error (RMSE) in the dynamic free surface boundary condition (DFSBC) and kinematic free-surface boundary condition (KFSBC) as an error evaluation criterion for wave theories. There are well known wave theories with RMSE more than 1%, such as Airy theory, Stokes theory, Dean's stream function theory, Fenton's theory, and trochodial theory for deep-water waves. However, none of them can be applied for deep-water breaking waves. The purpose of this study is to provide a closed-form solution for deep-water waves with RMSE less than 1% even for breaking waves. This study is based on a previous study (Shin, 2016), and all flow fields were simplified for deep-water waves. For a closed-form solution, all Fourier series coefficients and all related parameters are presented with Newton's polynomials, which were determined by curve fitting data (Shin, 2016). For verification, a wave in Miche's limit was calculated, and, the profiles, velocities, and the accelerations were compared with those of 5^th-order Stokes theory. The results give greater velocities and acceleration than 5^th-order Stokes theory, and the wavelength depends on the wave height. The results satisfy the Laplace equation, bottom boundary condition (BBC), and KFSBC, while Stokes theory satisfies only the Laplace equation and BBC. RMSE in DFSBC less than 7.25×10^-2% was obtained. The series order of the proposed method is three, but the series order of 5^th-order Stokes theory is five. Nevertheless, this study provides less RMSE than 5^th-order Stokes theory. As a result, the method is suitable for offshore structural design.

• Journal of Korea Water Resources Association
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• v.45 no.4
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• pp.419-430
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• 2012

Due to the calculation difficulty on the hydraulic and hydrologic analysis for road drainage facilities design, these analysis techniques are not applicable. This study's result are development of minutely rainfall-intensity equation suitable for road drainage area, verification of rainfall-runoff model joining kinematic wave theory for road drainage area, computational model based GUI for road surface drainage facilities spacing and culvert's size decision and various road drainage channel design. Applicable test on the developed model is proceed, result that in case of road surface dranage facilities spacing is narrower 6~65% than present spacing calculation method, in other case of road cross dranage facilities size is bigger 6~140% than present size decision method.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.617-623
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• 2012

In this paper, we propose a gait generation method for a quadruped robot to walk efficiently on the slope, which uses the waist joint of a quadruped robot. We derive the kinematic model of a quadruped robot with waist joint using the Denavit-Hartenberg representation method and the algebraic method. In addition, the gaits are generated based on the wave gait. In the proposed gait generation method, first in order to alleviate the mechanical restriction and the reduction of the stride, we determine the appropriate waist joint angle according to the slope degree, and then decide the location of the tiptoe of a quadruped robot by exploring the workspace. Finally, through computer simulations, we verify the effectiveness and applicability of the proposed method.

• Journal of Korea Water Resources Association
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• v.32 no.4
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• pp.417-426
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• 1999

A series of numerical experiments is performed to compare the characteristics of outflow hydrograph using linear and nonlinear Muskingum-Cunge methods for two cases: (a) sinusoidal inflow hydrographs and (b) rainfall inputs. The nonlinear method shows the steepening of the rising limb, coupled with a corresponding flattening of the receding limb. The linear method conserves mass exactly. In contrast, the nonlinear method is subject to a gain and a loss of mass. The loss of mass and the subsidence of peak outflow increases with a mild slope, a small baseflow $q_b$ and a large peak inflow to baseflow ratio $q_p/q_b$. A shock wave and associated numerical instability results in the increase of mass for a steep slope and a large $q_p/q_b$ ratio. While the linear method depends on the reference flow per unit-width, the nonlinear method depends on a baseflow and the $q_p/q_b$ ratio. It is found that, unlike for the sinusoidal inflow, the outflow for the rainfall inputs conserves mass fairly exactly in the nonlinear method.

• Journal of Advanced Research in Ocean Engineering
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• v.2 no.1
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• pp.1-11
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• 2016

The objective of this paper is to present an analytical solution in deep water waves and verify the validity of the theory (Shin, 2015). Hence this is a follow-up to Shin (2015). Instead of a variational approach, another approach was considered for a more accurate assessment in this study. The products of two coefficients were not neglected in this study. The two wave profiles from the KFSBC and DFSBC were evaluated at N discrete points on the free-surface, and the combination coefficients were determined for when the two curves pass the discrete points. Thus, the solution satisfies the differential equation (DE), bottom boundary condition (BBC), and the kinematic free surface boundary condition (KFSBC) exactly. The error in the dynamic free surface boundary condition (DFSBC) is less than 0.003%. The wave theory was simplified based on the assumption tanh $D{\approx}1$ in this paper. Unlike the perturbation method, the results are possible for steep waves and can be calculated without iteration. The result is very simple compared to the 5th Stokes' theory. Stokes' breaking-wave criterion has been checked in this study.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.36 no.2
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• pp.70-79
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• 2024

In this study, we introduce a linear spectral method capable of simulating wave generation and transformation caused by a moving bottom in a 3-dimensional space. The governing equations are linear dynamic free-surface boundary conditions and linear kinematic free-surface boundary conditions, which are solved in Fourier space. Solved velocity potential and free-surface displacement should satisfy continuity equation and kinematic bottom boundary condition. For numerical analysis, a 4th order Runge-Kutta method was utilized to analyze the time integral. The results obtained in Fourier space can be converted into velocity potential and free-surface displacement in a real space using inverse Fourier transform. Regular waves generated by various types of moving bottoms were simulated with the linear spectral method. Additionally, obliquely generated regular waves using specified bottom movements were simulated. The results obtained from the spectral method were compared to analytical solutions, showing good agreement between the two.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.3 no.4
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• pp.59-70
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• 1983

In this paper, it deals with runoff analysis in a mountainous watershed where the concentration time of the river is much Shorter than that of slopes. The momentum and continuity equation are used as the basic expressions and they are solved by the kinematic wave theory. By the introducing the distribution of concentration time, representing the characteristics of topographical and hydraulic factors, into a solution. A response function is derived. Using the optimization technique (simplex Method), the response functions derived in this paper are tested by comparing the observed and the estimated values, and shows promising.