• Journal of Advanced Marine Engineering and Technology
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• v.39 no.7
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• pp.709-715
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• 2015

Underwater gliders do not typically have separate propellers for forward motion. They generate propulsive forces based on the difference between their buoyancy and gravity. They can control the volume from the buoyancy engine to adjust the propulsive force. In addition, the attitude of the underwater glider is controlled by a rubberless motion controller. The motion controller can change the mass center and moment of inertia of the inner moving mass. Owing to the change in these parameters, the attitude of the underwater glider is changed. In this study, we derive nonlinear, six degree of freedom (DOF) mathematical models for the motion controller and buoyancy engine. Using these equations, we perform dynamic simulations of the proposed underwater glider, and verify the suitability of the design and dynamic performances of the proposed underwater glider. We then perform the motion control simulation for the pitch and roll angle, and analyze the dynamic performance according to the pitch and roll angles.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.04a
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• pp.385-386
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• 2010

The ship's seakeeping performance in the pitching and roll motion was felt tired. These gives structural loads to loaded with cargo and hull facilities. Be to improve, small catamaran power yacht designed a data for ship research and ship's hull form to be decided. In this study, based on domestic release for coastal marine environment in the interpretation criteria were chosen based on the exercise performance. The seakeeping performance of marine leisure catamaran was based on voyage speed. The seakeeping performance estimates based on the encounter angle, the wave of the encounter frequency response amplitude ratio for exercise was assessed in the high performance area.

• Journal of the Korea Concrete Institute
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• v.27 no.4
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• pp.377-385
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• 2015

The span-lengthening of PSC I girder has increased the risk of lateral instability of the girder with the increases in the aspect ratio and self-weight of the girder. Recently, collapses of PSC I girder during construction raise the necessity of evaluating the lateral instability of the girder. Thus, the present study evaluated the lateral behavior and instability of PSC I girders under wind load, regarded as one of the main causes of the roll-over collapse during construction. Lateral instability of the girder is mainly dependent on the length of the girder and the stiffness of the support. The analysis results of this study showed the decrease in the critical wind load and the increase in the critical deformation and angle of the girder, leading to the lateral instability of the girder. Finally, this study proposed analytical equations that can predict the critical amount of wind load and lateral deformation of the girder, which would provide quantitative management values to maintain lateral stability of PSC I girder during construction.

• Korean Journal of Applied Biomechanics
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• v.21 no.2
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• pp.223-230
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• 2011

The purpose of this study was to analysis the effect of form and hardness of outsoles on the motion of the lower extremity joints and on foot pressure during gait. The subjects were 15 women(mean age, $48.5{\pm}2.4$ years), who had no serious musculoskeletal, coordination, balance or joint/ligament problems within 1 year prior to the study. The pelvic tilt, joint angles at the lower extremities and the vertical ground reaction force(GRF) were compared during gait with 3 types of shoes (A, B, C) by using one-way repeated ANOVA(p<.05). During gait, the peak tilt angle and the range of motion(ROM) of the ankle and knee joints were found to be significantly different among the 3 types of shoes. The type C shoes showed a significantly lower mean second maximum vertical GRF than types A and B. The curved outsoles of type C shoes, which had a form and hardness different from those of A and B, was designed strategically for walking shoes to provide stability to the Additionally, type C induced the dispersion of eccentric pressure and made the center of pressure roll over to the center line of the foot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1463-1471
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• 2012

In this study, a 3-axis camera system design is proposed for application to an existing 2-axis surveillance robot. A camera-image-based target-tracking algorithm for this robot has also been proposed. The algorithm has been validated using a virtual simulation. In the algorithm, the heading direction vector of the camera system in the mobile surveillance robot is obtained by the position error between the center of the view finder and the center of the object in the camera image. By using the heading direction vector of the camera system, the desired pan and tilt angles for target-tracking and the desired roll angle for the stabilization of the camera image are obtained through inverse kinematics. The algorithm has been validated using a virtual simulation model based on MATLAB and ADAMS by checking the corresponding movement of the robot to the target motion and the virtual image error of the view finder.

• Ocean Systems Engineering
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• v.7 no.3
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• pp.179-193
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• 2017

Dynamic response analysis of offshore triceratops with stiffened buoyant legs under impact and non-impact waves is presented. Triceratops is relatively new-generation complaint platform being explored in the recent past for its suitability in ultra-deep waters. Buoyant legs support the deck through ball joints, which partially isolate the deck by not transferring rotation from legs to the deck. Buoyant legs are interconnected using equally spaced stiffeners, inducing more integral action in dispersing the encountered wave loads. Two typical nonlinear waves under very high sea state are used to simulate impact and non-impact waves. Parameters of JONSWAP spectrum are chosen to produce waves with high vertical and horizontal asymmetries. Impact waves are simulated by steep, front asymmetric waves while non-impact waves are simulated using Stokes nonlinear irregular waves. Based on the numerical analyses presented, it is seen that the platform experiences both steady state (springing) and transient response (ringing) of high amplitudes. Response of the deck shows significant reduction in rotational degrees-of-freedom due to isolation offered by ball joints. Weak-asymmetric waves, resulting in non-impact waves cause steady state response. Beat phenomenon is noticed in almost all degrees-of-freedom but values in sway, roll and yaw are considerably low as angle of incidence is zero degrees. Impact waves cause response in higher frequencies; bursting nature of pitch response is a clear manifestation of the effect of impact waves on buoyant legs. Non-impact waves cause response similar to that of a beating phenomenon in all active degrees-of-freedom, which otherwise would not be present under normal loading. Power spectral density plots show energy content of response for a wide bandwidth of frequencies, indicating an alarming behaviour apart from being highly nonlinear. Heave, being one of the stiff degrees-of-freedom is triggered under non-impact waves, which resulted in tether tension variation under non-impact waves as well. Reduced deck response aids functional requirements of triceratops even under impact and non-impact waves. Stiffened group of buoyant legs enable a monolithic behaviour, enhancing stiffness in vertical plane.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.6-14
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• 2007

Modem version of supersonic jet fighter aircraft must have been guaranteed appropriate controllability and stability in HAoA(High Angle of Attack). Limit value of aircraft entering into the departure in HAoA is related to aircraft configuration design. But, the control law such as AoA and yaw-rate limiter is implemented in digital Fly-By-Wire flight control system of supersonic jet fighter to guarantee the aircraft's safety in HAoA. The HAoA flight control law have two parts, one is control law of departure prevention and the other is control law of departure recovery support. The control laws of departure prevention for advanced jet trainer consist AoA limiter, roll command limiter and rudder fader. The control laws of departure recovery support are consist yaw-rate limiter and MPO(Manual Pitch Override) mode. The guideline of pitch rocking using MPO mode is simple, but operating skill of pitch rocking is very difficult by the pilot with inexperience of departure situation. This paper addresses the design and validation of APR(Automatic Pitch Rocker) control law instead of MPO in order to automatic recovery without manual pitch rocking by the pilot. And, recovery characteristic with APR verifies by the nonlinear analysis and pilot evaluation.

• Journal of Korean Neurosurgical Society
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• v.44 no.1
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• pp.8-14
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• 2008

Objective : The purpose of this study was to determine the efficacy of short segment fixation following postural reduction for the re-expansion and stabilization of unstable burst fractures in patients with osteoporosis. Methods : Twenty patients underwent short segment fixation following postural reduction using a soft roll at the involved vertebra in cases of severely collapsed vertebrae of more than half their original height. All patients had unstable burst fracture with canal compromise, but their motor power was intact. The surgical procedure included postural reduction for 2 days and bone cement-augmented pedicle screw fixations at one level above, one level below and the fractured level itself. Imaging and clinical findings, including the level of the vertebra involved, vertebral height restoration, injected cement volume, local kyphosis, clinical outcome and complications were analyzed. Results : The mean follow-up period was 15 months. The mean pain score (visual analogue scale) prior to surgery was 8.1, which decreased to 2.8 at 7 days after surgery. The kyphotic angle improved significantly from $21.6{\pm}5.8^{\circ}$ before surgery to $5.2{\pm}3.7^{\circ}$ after surgery. The fraction of the height of the vertebra increased from 35% and 40% to 70% in the anterior and middle portion. There were no signs of hardware pull-out, cement leakage into the spinal canal or aggravation of kyphotic deformities. Conclusion : In the management of unstable burst fracture in patients with severe osteoporosis, short segment pedicle screw fixation with bone cement augmentation following postural reduction can be used to reduce the total levels of pedicle screw fixation and to correct kyphotic deformities.

• The Journal of the Acoustical Society of Korea
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• v.11 no.4
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• pp.5-13
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• 1992

The vibration of a vehicle, which is caused by and transmitted from the engine, has significant effect on the ride comfort and the dynamic characteristics of the engine mount system has direct influence on the vibration and noise of the vehicle. This paper examines the body shake caused by the engine excitation force on engine key-off of a jeep by experiment and computer simulation using a general purpose mechanical system program, DADS. The computer simulation model consists of the engine, body including frame, and front and rear axles and each axle has right and left tires. The force element between body and suspension is modeled as a combination of suspension spring and damper, and the unsprung mass has roll and pitch motion. The body shake obtained from experiment was compared with the result of computer simulation. Parametric study of the body shake on engine key-off is performed with changing the stiffness of engine mount rubber, the engine mount installation angle and position of engine mounts by using the verified computer simulation model.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.8
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• pp.16-23
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• 2006

The effects of strake planform shapes on the vortex formation, interaction, and breakdown characteristics of double-delta wings were investigated through pressure measurements of upper wing surface and off-surface flow visualization. Three different shapes of strakes were attached to a delta wing respectively to form double-delta wing configurations and tested in a medium-sized subsonic wind tunnel. The results of the pressure measurements indicated that the strake planform having a higher sweep angle generated more concentrated vortex systems at upstream locations, which, however, tended to diffuse and break down much faster at the downstream locations. It was also found from the off-surface visualization results that the cause for the vortex concentration was due to the acceleration of coiling and merging processes between the wing and strake vortices.