• Ocean Systems Engineering
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• v.7 no.1
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• pp.53-74
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• 2017

Ship shaped FPSO (Floating Production, Storage and Offloading) units are the most commonly used floating production units to extract hydrocarbons from reservoirs under the seabed. These structures are usually much larger than general cargo ships and have their natural frequency outside the wave frequency range. This results in the response to first order wave forces acting on the hull to be negligible. However, second order difference frequency forces start to significantly impact the motions of the structure. When the difference frequency between wave components matches the roll natural frequency, the structure experiences a significant roll motion which is also termed as second order roll. This paper describes the theory and numerical implementation behind the calculation of second order forces and motions of any general floating structure subjected to waves. The numerical implementation is validated in zero speed case against the commercial code OrcaFlex. The paper also describes in detail the popular approximations used to simplify the computation of second order forces and provides a discussion on the limitations of each approximation.

• International Journal of Ocean System Engineering
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• v.1 no.3
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• pp.155-164
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• 2011

The second-order motion characteristics of a semi-submersible are investigated in regular waves. A higher-order boundary element method in a frequency domain and a finite element method in a time-domain were applied to the numerical analysis of the nonlinear hydrodynamic force and motion characteristics of semi-submersibles in view point of potential flow. Various aspects of nonlinear effects on the heave and roll of a semi-submersible were numerically investigated and some selected cases were compared with the model test data.

• Journal of Advanced Research in Ocean Engineering
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• v.2 no.2
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• pp.81-85
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• 2016

Nonlinear wave loads can lead to resonant responses of offshore structures in sum or difference frequencies. In this study, the roll motion of an FPSO with a low natural frequency is simulated in the time domain. To generate the time signals of wave loads, the quadratic transfer functions of the second-order excitations are calculated in the frequency domain. The equations of motions based on the time memory functions are used to evaluate the roll responses in irregular waves. The roll damping in empirical form is accounted for in the simulation.

• Journal of Navigation and Port Research
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• v.33 no.5
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• pp.323-330
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• 2009

We have been developing an underwater robot for harbour construction using a parallel mechanism The robot is attached to the rope of a crane, which curries a large stone into the undersea The robot's yaw and pitch are controlled by hydraulic cylinders but its roll is uncontrollable. We mount propellers in both side of the robot to generate the roll motion This paper studies on the control for the roll motion of a underwater robot. A gyro-sensor is used to measure the angle in a roll motion We develop the dynamic model to describe the robot's roll motion by a second order non-linear system and identify the model parameters by recursive least square and adaptive identifier. PD control, recursive model based control and adaptive model based control are applied with the dynamic model which computes the control input to compensate disturbances. This paper introduces the underwater robot system and presents the simulated and experimental results of the proposed controller.

• Bulletin of the Society of Naval Architects of Korea
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• v.23 no.4
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• pp.25-34
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• 1986

A two-dimensional linear method has been developed for the motion and the second-order steady force arising from the hydrodynamic coupling between waves and currents in the presence of a body of arbitrary shape. Interaction between the incident wave and current in the absence of the body lies in the realm beyond our interest. A Fredholm integral equation of the second kind is employed in association with the Haskind's potential for a steadily moving source of pulsating strength located in or below the free surface. The numerical calculations at the preliminary stage showed a significant fluctuation of the hydrodynamic forces on the surface-piercing body. The problem is approximately solved by using the asymptotic Green function for $U^2{\rightarrow}0$. The original Green function, however, is applied for the fully submerged body. Numerical calculations are made for a submerged and for a half-immersed circular cylinder and extensively for the mid-ship section of a Lewis-form. Some of the results are compared with other analytical results without any available experimental data. The current has strong influence on roll motion near resonance. When the current opposes the waves, the roll response are generally negligible in the low frequency region. The current has strong influence on roll motion near resonance. When the current opposes the wave, the roll response decreases. When the current and wave come from the same direction, the roll response increases significantly, as the current speed increases. The mean drift forces and moment on the submerged body are more affected by current than those on the semi-immersed circular cylinder or on the ship-like section in the encounter frequency domain.

• Journal of Advanced Research in Ocean Engineering
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• v.1 no.3
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• pp.168-175
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• 2015

This study consists of an experimental investigation of the reduction of the second-order roll motion of a semi-submersible platform in head sea conditions by adding hull damping. The second-order heave drift force and roll drift moment are known to be the main triggers that induce the list angle (Hong et al., 2010). Hong et al. (2013) used numerical calculations to show the possibility of reducing the list angle by changing the pontoon shape and adding a damping device on the hull. One of their findings was that the reduction in the list angle due to the increase in pontoon surface damping was significant. A series of model tests were carried out with a 1:50 scaled model of semi-submersible at the KRISO wave basin. The experiments indicated that adding damping on the hull surface effectively suppressed the list angle.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.3 no.2
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• pp.92-99
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• 1991

A moored body in the sea is subjected to second-order wave forces as well as to linear oscillatory ones. The second-order farces contain slowly-varying components, of which the characteristic frequency can be as low as the natural frequency of horizontal motions of the moored body. As a consequence, the slowly-varying force can excite unexpectedly large horizontal excursion of the body, which may cause a serious damage on the mooring system. In design analysis of Turret-type mooring system which is one of the interesting mooring systems for a floating body. the slowly-varying drift forces and the transient motion of the system during weathervaning are very important. In this paper the slowly-varying drift forces were calculated by using the Quadratic Transfer Function with considering the second order free-wave contributions. Additionaly the transient surge motion of the moored body was simulated with including the roll of the time-memory effect. In this simulation the spring constant of the spread Turret mooring system is updated at every time step for considering the nonlinear effect.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.8
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• pp.1022-1030
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• 1999

This paper is concerned with the balancing motion formulation and the control of ZMP (zero moment point) for a biped walking robot with balancing joints. The balancing equation of a biped robot can be modeled as the second order non-homogeneous differential equation, which makes it possible to plan the desired trajectories for various gaits or motions. Also, the balancing motion can be defined easily by solving the differential equation without pre-processing or heuristic procedures. The actual experiments are performed on biped walking robot system IWR-III, developed in our Automatic Control Lab. The system has the structure of three pitches in each leg, and one roll and one prismatic type in balancing joints. The walking simulations and the experimental results on IWR-III are shown using the proposed formula and control algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.969-976
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• 1999

This paper is concerned with the generation of a balancing trajectory for improving the walking performance. The balancing motion has been determined by solving a second -order differential equation. However, this method caused some difficulties in linearizing and approximating the equation and had restrictions on using various balancing trajectories. The proposed difficulties in linearizing and approximating the equation and had restrictions on using various balancing trajectories. The proposed method i this paper is based on the genetic algorithm for minimizing the motins of balancing joints, whose trajectories are generated by the fifth-order polynomial interpolation after planning leg trajectories. The real walking experiments are made on the biped robot IWR-III, developed by our Automatic Control Laboratory. The system has 8 degrees of freedom and the structure of three pitches in each leg, and one roll and one prismatic joint in the balancing joints. The experimental result shows the validity and applicability of the new proposed algorithm.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.444-449
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• 2009

An engine is one of the most dominant noise and vibration sources in vehicle systems. Therefore, in order to resolve noise and vibration problems due to engine, various types of engine mounts have been proposed. This work presents a new type of active engine mount system featuring a magneto-rheological (MR) fluid and a piezostack actuator. As a first step, six degrees-of freedom dynamic model of an in-line four-cylinder engine which has three points mounting system is derived by considering the dynamic behaviors of MR mount and piezostack mount. In the configuration of engine mount system, two MR mounts are installed for vibration control of roll mode motion whose energy is very high in low frequency range, while one piezostack mount is installed for vibration control of bounce and pitch mode motion whose energy is relatively high in high frequency range. As a second step, linear quadratic regulator (LQR) controller is synthesized to actively control the imposed vibration. In order to demonstrate the effectiveness of the proposed active engine mount, vibration control performances are evaluated under various engine operating speeds (wide frequency range) and presented in time domain.