• Ocean Systems Engineering
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• 제2권4호
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• pp.239-255
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• 2012

Analysis of ship parametric roll has generally been restricted to simple analytical models and sophisticated time domain simulations. Simple analytical models do not capture all the critical dynamics while time-domain simulations are often time consuming to implement. The model presented in this paper captures the essential dynamics of the system without over simplification. This work incorporates various important aspects of the system and assesses the significance of including or ignoring these aspects. Special consideration is given to the fact that a hull form asymmetric about the design waterline would not lead to a perfectly harmonic variation in metacentric height. Many of the previous works on parametric roll make the assumption of linearized and harmonic behaviour of the time-varying restoring arm or metacentric height. This assumption enables modelling the roll motion as a Mathieu equation. This paper provides a critical assessment of this assumption and suggests modelling the roll motion as a Hills equation. Also the effects of non-linear damping are included to evaluate its effect on the bounded parametric roll amplitude in a simplified manner.

• 한국철도학회:학술대회논문집
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• 한국철도학회 1999년도 추계학술대회 논문집
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• pp.542-549
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• 1999

The purpose of this study is to investigate stability of a high speed train and to propose optimal design using sensitivity analysis of suspension design parameters. A form of equations of motion in tangent track and curve track is obtained based on each creep force. Tangent track and curve track equations include lateral, rolling and yawing motions of wheel sets, bogies, and carbodies. Three track cases have been chosen to stability assesment of a high speed train analysis. Sensitivity equations are set up by directly differentiating the equations of motion. This study def'.led Stability performance index of a high speed train in tangent track and curve track. The relative magnitude of the effect of suspension parameters on the critical speed is computed, and by adjusting these parameters, the increase of the critical speed is achieved.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2018년도 학술발표회
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• pp.149-149
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• 2018

Prediction on initial motion of sediment is crucial to evaluate sediment transport and channel stability. The condition of incipient movement of sediment is characterized by bed shear stress, which is generated from force of moving water against the bed of the channel, and by critical shear stress, which depends on force resisting motion of sediment due to the submerged weight of the grains. When the bed shear stress exceeds the critical shear stress, sediment particles begin rolling and sliding at isolated and random locations. In Mountain River, debris flow frequently occurs due to heavy rainfall and can lead some natural stones from mountain slope into the bed river. This phenomenon could add additional forces to sediment transport system in the bed of river and also affect or change direction and magnitude of sediment movement. In this paper, evaluations on incipient motion of uniform coarse gravel under falling spheres impacts using small scale flume channel were conducted. The drag force of falling spheres due to water flow and length movement of falling spheres were investigated. The experiments were carried out in flume channel made by glass wall and steel floor with 12 m long, 0.6 m wide, and 0.6 m deep. The bed slopes were selected with the range from 0.7% to 1.5%. The thickness of granular layer was at least 3 times of diameter of granular particle to meet grain placement condition. The sphere diameters were chosen to be 4cm, 6 cm, 8 cm, 10 cm. The spheres were fallen in to the bed channel for critical condition and under critical condition of motion particle. Based on the experimental results, the Shields curve of particles Reynold number and dimensionless critical shear stress were plotted. The relationship between with drag force and the length movement of spheres were plotted. The pathways of the bed material Under the impact of spheres falling were analyzed.

• 로봇학회논문지
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• 제6권4호
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• pp.323-333
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• 2011

Due to the limited pendulum motion range, the conventional one-pendulum driven spherical robot has limited driving capability. Especially it can not drive parallel direction with center horizontal axis to which pendulum is attached from stationary state. To overcome the limited driving capability of one-pendulum driven spherical robot, we introduce a spherical robot, called KisBot II, with a new type of curved two-pendulum driving mechanism. A cross-shape frame of the robot is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each curved pendulum is connected to the end of the other axis of the frame respectively. The main axis and pendulums can rotate 360 degrees inside the sphere orthogonally without interfering with each other, also the two pendulums can rotate identically or independent of each other. Due to this driving mechanism, KisBot II has various motion generation abilities, including a fast steering, turning capability in place and during travelling, and four directions including forward, backward, left, and right from stationary status. Experiments for several motions verify the driving efficiency of the proposed spherical robot.

• 한국해양공학회지
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• 제25권2호
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• pp.15-20
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• 2011

This study aimed at validating the adopted numerical methods to solve two-phase flow around a two-dimensional (2D) rectangular floating structure in regular waves. A structure with a draft equal to one half of its height was hinged at the center of gravity and free to roll with waves that had the same period as the natural roll period of a rectangular barge. In order to simulate the 2D incompressible viscous two-phase flow in a wave tank with the rectangular barge, the present study used the volume of fluid (VOF) method based on the finite volume method with a standard turbulence model. In addition, the sliding mesh technique was used to handle the motion of the rectangular barge induced by the fluid-structure interaction. Consequently, the present results for the flow field and roll motion of the structure had good agreement with those of the relevant previous experiment.

• 한국해양공학회지
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• 제25권6호
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• pp.17-22
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• 2011

This study conducted wide-tank experiments and numerical calculations for a vessel in various positions such as upright and inclined by 2 and 4 degrees, with the goal of investigating the motion amplitude response of a small damaged fishing boat subject to a beam sea. Numerical calculations were conducted based on the three-dimensional source distribution method. The good agreement of the numerical calculation and experimental results confirmed that the present calculation method can be efficiently used for the initial design of a small fishing boat. In addition, while the chine-line type has been frequently adopted to improve a ship's resistance performance in the design of a small fishing boat, it is considered that the possibility of a deterioration in rolling performance should be thoroughly considered.

• 대한조선학회논문집
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• 제36권3호
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• pp.71-82
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• 1999

비선형 동역학계의 불규칙한 운동은 그 계가 가지는 고유한 특성에 의해 생기는 현상으로써 때로는 예측할 수 없는 큰 운동이 발생한다. 해상 운행중인 선박의 경우 이러한 예측치 못한 큰 운동으로 인해 전복이 일어나기도 하므로, 비선형 선박 안전성 확보라는 관점에서 중요하게 다루어져야 한다. 본 연구에서는, 첫째로 임의의 구간 안에 있는 모든 초기 조건에 대해 선박 운동의 안정성을 파악하여 안정과 불안정으로 영역 구분을 시켜 주는 흡인 영역(basins of attraction)을 외력변화에 따라 그려 봄으로써 선박 운동에 대한 안정 영역의 정성적인 변화 과정을 파악하고자 하였다. 둘째로 전복이 일어나지 않는 안정 영역상을 초기 조건으로 한 선박 운동이 최종적으로 어떤 운동이 되는지 알아 보았다. 마지막으로 외력 변화에 따른 비선형 선박 운동 중 혼돈적 현상이 일어나는 운동에 대해서는 이를 상세히 분석하고자 과도상태가 지난 운동의 주기적 변화를 외력 변화에 따라 살펴보는 분기도(bifurcation diagram)를 이용하여 연구해 보았다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.135-136
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• 2006

A precise linear motion stage supported by magnetically preloaded air bearings is introduced where preloading magnetic actuators are combined with permanent magnets and coils to adjust air bearing clearance by controlling magnetic force actively. Each of the magnetic actuators has a permanent magnet generating nominal magnetic flux for required preload and a coil to perturb the magnetic force resulting adjustment of air-bearing clearance. The characteristics of porous aerostatic bearing are analyzed by numerical analysis, and analytic magnetic circuit model is driven for magnetic actuator to calculate nominal preload and variation of force due to current. A 1-axis linear stage motorized with a coreless linear motor and a linear encoder is built for verifying this design concept. With the active magnetic preloading actuators controlled with DSP board and PWM power amplifiers, the active on-line adjusting tests about the vertical, pitching and rolling motion were performed, and the result shows very good linearity.

• 한국정밀공학회지
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• 제25권6호
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• pp.134-142
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• 2008

In this paper, we propose a precise linear motion stage supported by magnetically preloaded air bearings. The eight aerostatic bearings with rectangular carbon porous pads were located only one side of vertical direction under the platen where four bearings are in both sides of horizontal direction as wrap-around-design, and this gives simpler configuration than which constrained by air bearings for all direction. Each of the magnetic actuators has a permanent magnet generating static magnetic flux far required preload and a coil to perturb the magnetic farce resulting adjustment of air- bearing clearance. The characteristics of porous aerostatic bearing are analyzed by numerical analysis, and analytic magnetic circuit model is driven for magnetic actuator to calculate preload and variation of force due to current. A 1-axis linear stage motorized with a coreless linear motor and a linear encoder was designed and built to verify this design concept. The load capacity, stiffness and preload force were examined and compared with analysis. With the active magnetic preloading actuators controlled with DSP board and PWM power amplifiers, the active on-line adjusting tests about the vertical, pitching and rolling motion were performed. It was shown that motion control far three DOF motions were linear and independent after calibration of the control gains.

• 대한수학회지
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• 제49권3호
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• pp.585-604
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• 2012

In this paper we consider the evolution of the rolling stone with a rotationally symmetric nonconvex compact initial surface ${\Sigma}_0$ under the Gauss curvature flow. Let $X:S^n{\times}[0,\;{\infty}){\rightarrow}\mathbb{R}^{n+1}$ be the embeddings of the sphere in $\mathbb{R}^{n+1}$ such that $\Sigma(t)=X(S^n,t)$ is the surface at time t and ${\Sigma}(0)={\Sigma}_0$. As a consequence the parabolic equation describing the motion of the hypersurface becomes degenerate on the interface separating the nonconvex part from the strictly convex side, since one of the curvature will be zero on the interface. By expressing the strictly convex part of the surface near the interface as a graph of a function $z=f(r,t)$ and the non-convex part of the surface near the interface as a graph of a function $z={\varphi}(r)$, we show that if at time $t=0$, $g=\frac{1}{n}f^{n-1}_{r}$ vanishes linearly at the interface, the $g(r,t)$ will become smooth up to the interface for long time before focusing.