• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• v.5 no.1
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• pp.22-28
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• 2002

A New concept for the LNG-FPSO ship, with moonpool and bilge step in bottom, is proposed. This concept is investigated with regard to motion reduction and sloshing phenomena of the cargo and operation tanks. The principal dimensions of the ship are $L\timesb B\times D\times t(design)=270.0\times51.0\times32.32\times13.7(m)$, with a total cargo capacity of 161KT; a 98% loading condition is considered for this study. The moonpools and rectangular step at the bilge have been designed for the purpose of decreasing the motion within the tank. For the motion analysis, linearized three-dimensional diffraction theory, with the simplified boundary condition was used. The six-degree of freedom coupled motion responses were calculated for the LNG-FPSO ship. Viscous effects on the roll motion responses of a vessel were taken into account in this calculation program, using an empirical formula suggested by Himeno(1981). The case study for the moonpool size has been conducted using theoretical estimation and the experimental method. For the optimization of the moonpool size and effect of the bilge step, 9 cases of its size, both with and without bilge step, were involved in the study. no motion responses, especially roll motion, for the designed LNG-FPSO ships are much lower than those of other drill ships and shuttle tankers. The limit criterions are satisfied. To check the cargo tank and operation tank sizes, we performed a sloshing analysis in the irregular waves which focuses on the pressure distribution on the tank wall and the time history of pressure and free surface for No.2 and 5 tanks of LNG-FPSO with chamfers. Finally, optimum tank sire was estimated.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.529-536
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• 2017

The general ground control system has control and information display functions for the operation of a single unmanned aerial vehicle. Recently, the function of the single ground control system extends to the operation of multiple UAVs. As a result, operators have been exposed to more diverse tasks and are subject to task overload due to various factors during their mission. This study proposes an adaptive ground control system that reflects the operator's condition through the task overload measurement of multiple UAV operators. For this, the ground control software is developed to control multiple UAVs at the same time, and the simulator with six degree-of-freedom aircraft dynamics is constructed for realistic human-machine-interface experiments by the operators.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.4
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• pp.281-290
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• 2021

For successful operations of an airborne Active Electronically-Scanned Array (AESA) radar, which has various advantages over traditional radar systems, accurate and robust navigation is critical. This paper discusses a study on the performance analysis of an integrated navigation based on the Embedded GPS/INS (EGI) system for an aircraft equipped with an AESA radar. The models for generating the inputs for the GPS/IMU are developed. A navigation filter for a loosely-coupled GPS/IMU system is constructed. Overall navigation performance assessment procedure using a six degree of freedom aircraft simulator - along with the GPS/IMU models and the navigation filter - is introduced. The steps of the performance analysis procedure are explained using a comprehensive case study.

• Journal of the Earthquake Engineering Society of Korea
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• v.12 no.4
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• pp.55-61
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• 2008

One of the most recent base-isolation systems to improve the earthquake resistance of structures is the Friction Pendulum System(FPS). Simple in design but with versatile properties, the FPS has been used in some of the world s largest seismically isolated buildings, bridges and chemical tanks. FPS using PTFE(Polytetrafl-uoroethylene) based material has been developed to provide a simple and effective way for structures to achieve earthquake resistance. PTFE materials are soft, and are apt to become deformed easily after a few working cycles. In this study, magnetic force is used rather than the usual PTFE materials to improve the material shortcomings. A MF-FPS(Magnetic force-Friction Pendulum System) is proposed, and us shown to effectively protect structures against earthquakes. To demonstrate the advantages of this new system, the MF-FPS is compared with FPS as an attempt to prove its performance. A six-degree-of-freedom model is considered as a numerical example. The ground acceleration data of El Centro, Mexico and Gebze earthquakes are used as seismic excitations. The results showed that MF-FPS improved performance compared with FPS.

• Journal of Advanced Navigation Technology
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• v.21 no.5
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• pp.450-458
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• 2017

This paper presents dynamic modelling and simulation study on attitude/altitude control of an insect-mimicking flapping micro aerial vehicle during hovering. Mathematical modelling consists of three parts: simplified flapping kinematics, flapping-wing aerodynamics, and six degree of freedom dynamics. Attitude stabilization is accomplished through linear quadratic regulator based on the linearized model of the time-varying nonlinear system, and altitude control is designed in the outer loop using PID control. The performance of the proposed controller is verified through numerical simulation where attitude stabilization and altitude control is done for hovering. In addition, it is confirmed that the attitude channel by periodic control is marginally stable against periodic pitching moment caused by flapping.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.147-152
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• 2016

Shape Memory Alloys (SMAs) undergo changes in shape and hardness when heated or cooled, and do so with great force. Since wire-type SMAs contract in length when heated and pull with a surprisingly large force and move silently, they can be used as actuactors which replace motors. These SMA actuators can be heated directly with electricity and can be used to create a wide range of motions. This paper presents the mechanical design and control for a three fingered, six degree-of-freedom robotic hand actuated by SMA actuators. Each finger has two joints and each joint is actuated with two tendons in the antagonistic manner. In order to create the sufficient force to make the smooth motion, the tendon is composed of two SMA actuators in parallel. For controlling the current to heat the SMA actuators, PWM drivers are used. In experiments, the antagonistic interaction of fingers are evaluated.

• KEPCO Journal on Electric Power and Energy
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• v.2 no.3
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• pp.461-467
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• 2016

In order to install the floating transport type wind-turbine foundation, water pumping is used to sink the foundation. During this process, its mass and center of gravity, and buoyancy center become continuously changed so that the dynamic stability of the floating foundation become unstable. Dynamic stability analysis of the floating foundation is a complex problem since it should take into account not only the environmental wave, wind, and current loads but also its weight change effect simultaneously considering six-degree-of-freedom motion. In this study, advanced numerical method based on the coupled computational fluid dynamics (CFD) and multi-body dynamics (MBD) approach has been applied to the dynamic stability analysis of the floating foundation. The sloshing effect of foundation internal water is also considered and the floating dynamic characteristics are numerically investigated in detail.

• Journal of Ocean Engineering and Technology
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• v.29 no.3
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• pp.270-282
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• 2015

A submerged body moving near the free surface needs to maintain its attitude and position to accomplish missions. It is necessary to validate the performance of a designed controller before a sea trial. The hydrodynamic coefficients of maneuvering are generally obtained by experiments or computational fluid dynamics, but these coefficients have uncertainty. Environmental loads such as the wave exciting force and suction force act on the submerged body when it moves near the free surface. Thus, a controller for the submerged body should be robust to parameter uncertainty and environmental loads. In this paper, the six-degree-of-freedom equations of motions for the submerged body are constructed. The suction force is calculated using the double Rankine body method. An adaptive control method based on an artificial neural network and proportional-integral-derivative control are used for the depth controller. Simulations are performed under various depth and speed conditions, and the results show the effectiveness of the designed controller.

• Smart Structures and Systems
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• v.22 no.5
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• pp.495-508
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• 2018

Shape memory alloys (SMAs) exhibit superelasticity given the ambient temperature is above the austenite finish temperature threshold, the magnitude of which significantly depends on the metal ingredients though. For the monocrystalline CuAlBe SMAs, their superelasticity was found being maintained even when the ambient temperature is down to $-40^{\circ}C$. Thus this makes such SMAs particularly favorable for outdoor seismic applications, such as the framed structures located in cold regions with substantial temperature oscillation. Due to the thermo-mechanical coupling mechanism, the hysteretic properties of SMAs vary with temperature change, primarily including altered material strength and different damping. Thus, this study adopted the monocrystalline CuAlBe SMAs as the kernel component of the SMA braces. To quantify the seismic response characteristics at various temperatures, a wide temperature range from -40 to $40^{\circ}C$ are considered. The middle temperature, $0^{\circ}C$, is artificially selected to be the reference temperature in the performance comparisons, as well the corresponding material properties are used in the seismic design procedure. Both single-degree-of-freedom systems and a six-story braced frame were numerically analyzed by subjecting them to a suite of earthquake ground motions corresponding to the design basis hazard level. To the frame structures, the analytical results show that temperature variation generates minor influence on deformation and energy demands, whereas low temperatures help to reduce acceleration demands. Further, attributed to the excellent superelasticity of the monocrystalline CuAlBe SMAs, the frames successfully maintain recentering capability without leaving residual deformation upon considered earthquakes, even when the temperature is down to $-40^{\circ}C$.

• Journal of the Korea Society for Simulation
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• v.22 no.4
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• pp.99-107
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• 2013

In this study, a conceptual study was performed for the leisure boat simulator used for navigation training. The aim of this work was to secure the basic operational capability of a leisure boat as a simulated driving device for a general novice operator. A leisure boat simulator was designed to support a user more efficiently regarding navigation proficiency and safety training, as well as to minimize the limitation of place and time and it conveniently and cheaply. A cockpit for navigation status display and operational input, 3D visualization graphic device, and parallel display device were designed to give the trainee a maximum sense of reality by applying a motion platform with six degree of freedom, in which disturbance movement such waves, winds, and tide were simulated for the operator. Leisure boat simulator training scenario was developed by analysis of water-related leisure activities act and sea traffic safety act.