• 로봇학회논문지
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• 제1권2호
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• pp.203-211
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• 2006

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supporting their body and help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduciton of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

• 대한조선학회논문집
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• 제44권4호
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• pp.379-388
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• 2007

Ever increasing fuel prices and environmental concerns are forcing commercial vessel operators and designers to re-assess current vessel designs with an emphasis on their propulsion systems. The most important parameter determining propulsive efficiency is the diameter of propeller. Many investigations have been carried out to adapt a large and slow turning propeller known as one of the most robust and effective way of achieving high efficiency in ship propulsion system. However, for the same vessel a further increase of propeller diameter would require the modification of the aft end while still paying attention to the hull clearance to prevent excessive propeller excited vibrations. In order to take the advantage of this approach small workboats (e.g. tug boats, fishing vessels etc.) operate in service with a significant increase of aft draught and hence resulting "inclined keel" configuration can be observed. Although it is not unusual to see large vessels sometimes to operate with stern trim to improve their operational performance and fuel efficiency, it is rare to see a such vessel purposely built with an inclined keel feature to fit a large diameter propeller for power saving. This paper investigates the application of the inclined keel configuration to a 3600TEU container vessel with the aim of fitting an 11 % larger diameter propeller (and hence resulting 17.5 % lower rpm) to gain further power saving over the similar size basis container ship with conventional "level keel" configuration.

• 대한조선학회논문집
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• 제46권2호
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• pp.97-104
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• 2009

Ever increasing fuel prices, almost doubled in the last three years, and global pressure to reduce their environmental impact have been enforcing commercial vessel operators and designers to re-assess current vessel designs with emphasis on their propulsion systems and operational practices. In this paper the "Inclined Keel Hull (IKH)" concept, which facilitates to use larger propeller diameter in combination with lower shaft speed rates and hence better transport efficiency, is explored for a modern 3600 TEU container vessel with the aim of fitting an 13 % larger diameter propeller (and hence resulting 20% lower rpm) to gain further power saving over the similar size basis container ship with conventional "level keel" configuration. It appears that successful application of the "inclined keel Hull" concept is a fine balance amongst the maximum gain in propulsive efficiency, minimum increase in hull resistance and satisfaction of other naval architectural and operational requirements. In order to make the concept economically more viable, this paper concentrates on the fore body design with the possible combination of increase of volume in its fore body to recover the expected volume loss in the aft body due to the space for larger propeller and its low wave-making resistance to minimize the efficiency loss using a well-established optimization software.

• 항공우주시스템공학회지
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• 제11권4호
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• pp.36-43
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• 2017

쿼드틸트 무인기에 적용되는 프롭로터 블레이드 형상 최적설계를 수행하였다. 형상 최적설계 프로세스 통합은 ModelCenter(R) 프로그램을 이용하였으며, 최적설계 과정에서 성능해석은 CAMRAD-II를 사용하였다. 목적함수는 제자리비행 및 전진비행 모드에서 성능효율 최대화로 설정하였으며, 제한조건은 소요 동력 및 피치로드 하중 값이 기본 형상 값보다 작게 되도록 설정하였다. 설계변수로는 블레이드 루트 코드길이, 테이퍼비, 비틀림 각의 기울기 및 각도, 하반각, 끝단 형상 생성을 위한 파라볼릭 계수, 하반각과 끝단형상이 적용되는 블레이드 스팬위치, 블레이드 단면을 구성하는 익형의 위치로 구성하였다. 최적 설계 결과 기준 형상 대비 제자리비행 효율은 1.6%, 전진 비행 효율은 13.6% 향상된 프롭로터 블레이드 형상을 도출할 수 있었으며, 피치로드 하중은 약 30% 감소하였다.

• 대한조선학회지
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• 제26권4호
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• pp.14-26
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• 1989

선박의 추진성능 추정을 위한 통계해석 기법을 연구하고 전산 프로그램을 만들었다. 조파저항계수의 추정식은 조파저항이론을 이용하여 스테이션 별 횡단면적계수의 곱으로 표현되도록 도출해 내었고, 이에 대한 회귀계수는 모형시험 결과를 회귀분석하여 얻었다. 형상계수, 반류비 및 추력감소율의 추정식들은 선체 주요지수, 스테이션 별 횡단면적계수 및 모형시험 결과들을 순순하게 회귀분석하여 얻었다. 통계해석은 여러가지 기술통계와 단계별 회귀분석 기법을 적절하게 이용하여 수행하였다. 추진성능 추정 프로그램은 저항계수, 추진계수, 프로펠러 단독효율 및 각종 척도효과 등을 모두 쉽게 수용할 수 있도록 다양하면서도 간결하게 만들었다.

• Journal of Advanced Marine Engineering and Technology
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• 제10권3호
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• pp.94-106
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• 1986

Since the oil shock of '70s the engine makers have developed new types of diesel engine with low fuel consumption. There is an obvious tendency towards the use of poorer quality fuels, such as the residual oil from chemical processes of refinery. The shaft driving generators is also widely adopted on behalf of the auxiliary diesel engines, which are driving on the expensive diesel oil and have high fuel oil consumption rates, and some mania propulsion diesel engines are equipped with reduction gear systems to get better propulsive efficiency by slower propeller revolutions. The propulsion shafting system equipped with the shaft driving generator or the geared diesel engine shafting system has flexible couplings, and it requires extensive investigations of the torsional vibration and torque fluctuation in order to ensure the acceptable operation range in service. The characteristics of misfiring must be especially examined for the high viscosity fuels to be used. Both torsional vibration and fluctuating torque resulted from misfiring, should be examined for thier effects on the flexible coupling and propulsion shafting system. This paper is to investigate and solve the above mentioned problems which must be predicted on the design-stage of marine propulsion shafting system. A computer program is developed to calculate the indicated diagram, fluctating torque and torsional vibration for both normal and misfiring conditions.

• 동력기계공학회지
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• 제19권2호
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• pp.64-69
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• 2015

Marine diesel engines with high thermal efficiency and fuel diversity used for propulsive power have been taking charge of important position on marine transport. However, marine environment has recently focused on emissions such as nitrogen oxide and sulfur oxide which is generated from combustion of low grade fuels. EGR(Exhaust gas recirculation) system is one of effective methods to reduce the nitrogen oxide emission from marine diesel engines. In general, it is considered that recirculating gas influences fuel combustion and emissions in diesel engines. However, along with positive effects of EGR, the EGR system using fuels of including high sulfur concentration should be considered about re-combustion and activation of sulfur dioxide in recirculating gas. Therefore, in experimental study, an author investigates effects of sulfur dioxide mixture concentration in intake air on combustion and exhaust emission characteristics in a direct injection diesel engine. In results, change of sulfur dioxide concentrations in intake air had negligible impact on combustion chamber pressure, rate of heat release and emissions compared with effects of oxygen decreasing and carbon dioxide increasing of EGR.

• 대한조선학회논문집
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• 제42권1호
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• pp.1-9
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• 2005

Waterjet propulsion is widely used to thrust high speed marine vessels in excess of 30-35 knots by virtue of the high propulsive efficiency, good maneuverability, and less cavitation. From the aspect of power loss, approximately $7-9\%$ of the total power is lost in intake duct due to the flow separation, nonuniformity, etc. Thus, detail understanding of flow phenomena occurring within intake duct is essential to reduce the power loss, as well as noise and vibration. The present work solved 30 incompressible RANS equations to provide complicated viscous flow features of intake duct. The numerical results were compared with experiments and good agreements were obtained for three jet velocity ratios.

• 한국항공우주학회지
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• 제34권3호
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• pp.14-21
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• 2006

직사각형 평판날개의 날개짓과 비틀림 운동을 해석하기 위하여 비정상 와류격자법(VLM)을 이용하였다. 단순 상하 및 피칭 운동하는 날개에 대한 해석결과를 실험 및 다른 수치해석 결과들과 비교하여 복잡한 날개짓 비행을 모사하는데 본 방법을 사용할 수 있음을 보였다. 날개짓 각 진폭이 $20^{\circ}$인 경우에 여러 가지 비틀림 각과 무차원 주파수 변화에 대하여 직사각형 평판 날개의 양력, 추력 및 추진효율을 계산하였다. 계산 결과를 분석하여 주기적으로 변하는 비틀림이 날개짓 날개의 공력 특성에 미치는 영향을 살펴보았다.

• 수산해양기술연구
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• 제32권3호
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• pp.273-285
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• 1996

Generally, the flow around the ship's hull often appear 3-dimensional separation at the bow and stem, and the vortex by this flow affects greatly the resistance propulsive efficiency and maneuverability of the ship. This study is compared the calculated result based on the streamlines calculation method with the experimental result by oil fIlm method to analyze the patterns and characteristics of the flows around the ship's hull of chine form. DTMB Series 62, 4667-1 vessel was selected as a sample ship of chine form and model ship was painted with the mixture of oil-color, paint, and poly wax at the surface of the vessel and tested in the model towing tank of Inha University. The results obtained in this study are listed briefly as follows ; 1. For the single chine form, after $4\frac{1}{2}$ station the streamlines are crossed at the chine line and the streamlines are converted to the vortex follow the chine line. 2. For the single chine form, the vortex appered increases and severely in and arround the stern. 3. The approximate streamlines for the ship's hull of chine form can be assigned by the use of the Watanabe's basic transformation formular.