• Nuclear Engineering and Technology
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• v.53 no.6
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• pp.1810-1820
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• 2021

Study of single bubble behavior under rolling motions can prove useful for fundamental understanding of flow field inside the modern small modular nuclear reactors. The objective of the present study is to simulate the influence of rolling conditions on single rising bubble in a liquid using multiphase Moving Particle Semi-implicit (MPS) method. Rolling force term was added to 2D Navier-Stokes equations and a computer program was written using C language employing OpenACC to port the code to GPU. Computational results obtained were found to be in good agreement with the results available in literature. The impact of rolling parameters on trajectory and velocity of the rising bubble has been studied. It has been found that bubble rise velocity increases with rolling amplitude due to modification of flow field around the bubble. It has also been concluded that the oscillations of free surface, caused by rolling, influence the bubble trajectory. Furthermore, it has been discovered that smaller vessel width reduces the impact of rolling motions on the rising bubble. The effect of liquid viscosity on bubble rising under rolling was also investigated and it was found that effects of rolling became more pronounced with the increase of liquid viscosity.

• Nuclear Engineering and Technology
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• v.51 no.8
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• pp.1886-1896
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• 2019

Modern small modular nuclear reactors can be built on a barge in ocean, therefore, their flow characteristics depend upon the ocean motions. In the present research, effect of rolling motion on flow and friction characteristics of laminar flow through vertical and horizontal narrow channels has been studied. A computer code has been developed using MPS method for two-dimensional Navier-Stokes equations with rolling motion force incorporated. Numerical results have been validated with the literature and have been found in good agreement. It has been found that the impact of rolling motions on flow characteristics weakens with increase in flow rate and fluid viscosity. For vertical narrow channels, the time averaged friction coefficient for vertical channels differed from steady friction coefficient. Furthermore, increasing the horizontal distance from rolling pivot enhanced the flow fluctuations but these stayed relatively unaffected by change in vertical distance of channel from the rolling axis. For horizontal narrow channels, the flow fluctuations were found to be sinusoidal in nature and their magnitude was found to be dependent mainly upon gravity fluctuations caused by rolling.

• Journal of Navigation and Port Research
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• v.34 no.2
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• pp.123-129
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• 2010

The object of this study is to develop the method of safe conducting of a vessel through stormy sea when we encounter typoon or hurricane on ocean. The scope of investigation in this paper will be limited to safe maneuvering related only with rolling motions of a vessel. The processes of investigations are as follows; Firstly, we decide a CPA(Closest Point of Approach) with the center of the storm and decide significant wave height($H_{1/3}$) by SMB method and then calculate wave height of the highest of 1000 waves($H_{1/1000}$) and other data. Secondly, we make mathematical model of rolling motions of the vessel on the stormy sea and calculate the biggest rolling angle of the vessel and etc. Thirdly, we decide the most safe maneuvering method to ride out the stormy sea. By the above mentioned method we are able to calculate the status of the stormy sea and ships motions to be encountered and ride out safely through violently rough sea.

• Journal of Ocean Engineering and Technology
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• v.32 no.6
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• pp.440-446
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• 2018

The effects of an anti-rolling tank (ART) on vessel motions were numerically investigated. The potential-based BEM vessel motion simulation program and particle-based computational fluid dynamics program were dynamically coupled and used to perform a simulation of vessel motions with ART. From the time domain simulation results, the response amplitude operators for sway and roll motions were obtained and compared with the corresponding experimental and numerical results. Because the main purpose of ART was only to reduce roll motions, it was important to show that the natural properties of a floating vessel were not changed by the effects of ART. Various ART filling ratios and several ART positions were considered. In conclusion, ART only reduced the roll motion regardless of its filling ratio and position.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

• Journal of Fisheries and Marine Sciences Education
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• v.9 no.2
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• pp.167-178
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• 1997

It has been expected not only for crew but also for passengers to realize a ship whose rolling and other motions are small as much as possible. Restricting our consideration to the roll reduction, the conventional roll stabilization system, fins or anti-rolling tanks hve been utiized as the actuator. Excessive motions would interfere with the recreational activities of passengers on a cruise ship. Often more than half of the load of a containership is stowed above deck where it is subjected to large acclerations due to rolling. In some situations this may cause some internal damage to the contents of the containers; in more severe situations failure of the lashing can occur and containers may be lost over-board. Underdeck cargo in ordinary cargo ships and bulk commodities in colliers, ore ships and grain ships can shift if the motions become too severe. The purpose of this study is to concentrate on the additions. either internal or external to the hull, that reduce or otherwise improve the motion responses of the hull. It is assumed that the additions are such that their benefit to the motions of the ship outweights any impact on the ability of the ship to perform its assigned task. It is particularly challenging to obtain large improvements in the motion characteristics of existing ships that are being rebuilt or modified for some task not anticipated in their original design. Further the authors will statistically analyze the influence of ruder-roll-yaw coupling motion in the case of application of this advanced control method to various kinds of ship.

• Journal of Biosystems Engineering
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• v.21 no.3
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• pp.293-305
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• 1996

Effects on the tractor vibrations of tread, wheelbase and axle load distribution were analyzed by using mathematical models of tractor and random road surface. A 4 degrees of freedom tractor model was developed to predict the bounce, pitch and roll motions of tractor. The front axle which is constrained to roll with respect to tractor body was also included in the model. A random road profile was generated and used as an excitation input to the tractor. Output vibrations of the model were predicted and analyzed by a computer simulation method. In general, longer tread tends to reduce rolling and longer wheelbase does bouncing and pitching motions. Tractor vibrations were minimum when the ratio of front to rear axle loads was in the range of 30:70-35:65. Sensitivity analysis showed that rolling and pitching motions most sensitively varied with changes in tread and wheelbase while bouncing motion did with the location of mass center.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.3
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• pp.325-331
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• 2018

This paper deals with the dynamical analysis of a vessel that leads to capsize in regular beam seas. The complete investigation of nonlinear behaviors includes sub-harmonic motion, bifurcation, and chaos under variations of control parameters. The vessel rolling motions can exhibit various undesirable nonlinear phenomena. We have employed a linear-plus-cubic type damping term (LPCD) in a nonlinear rolling equation. Using the fourth order Runge-Kutta algorithm with the phase portraits, various dynamical behaviors (limit cycles, bifurcations, and chaos) are presented in beam seas. On increasing the value of control parameter ${\Omega}$, chaotic behavior interspersed with intermittent periodic windows are clearly observed in the numerical simulations. The chaotic region is widely spread according to system parameter ${\Omega}$ in the range of 0.1 to 0.9. When the value of the control parameter is increased beyond the chaotic region, periodic solutions are dominant in the range of frequency ratio ${\Omega}=1.01{\sim}1.6$. In addition, one more important feature is that different types of stable harmonic motions such as periodicity of 2T, 3T, 4T and 5T exist in the range of ${\Omega}=0.34{\sim}0.83$.

• Earthquakes and Structures
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• v.11 no.1
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• pp.25-43
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• 2016

The uneven distribution of rolling friction coefficient may lead to great uncertainty in the structural seismic isolation performance. This paper attempts to improve the isolation performance of a spring-damper-rolling isolation system by artificially making the uneven friction distribution to be concave. The rolling friction coefficient gradually increases when the isolator rolls away from the original position during an earthquake. After the spring-damper-rolling isolation system under different ground motions was calculated by a numerical analysis method, the system obtained more regular results than that of random uneven friction distributions. Results shows that the concave friction distribution can not only dissipate the earthquake energy, but also change the structural natural period. These functions improve the seismic isolation efficiency of the spring-damper-rolling isolation system in comparison with the random uneven distribution of rolling friction coefficient, and always lead to a relatively acceptable isolation state even if the actual earthquake significantly differs from the design earthquake.

• Journal of the Korean Mathematical Society
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• v.53 no.4
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• pp.725-735
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• 2016

A pair of bodies rolling on each other is an interesting example of nonholonomic systems in control theory. There is a geometric condition equivalent to the rolling constraint which enables us to generalize the rolling motions for any two-dimensional Riemannian manifolds. This system has a five-dimensional phase space. In order to study the controllability of the rolling surfaces, we lift the system to a six-dimensional space and show that the lifted system is controllable unless the two surfaces have isometric universal covering spaces. In the non-controllable case there are some three-dimensional orbits each of which corresponds to an isometry of the universal covering spaces.