• Ocean Systems Engineering
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• v.10 no.4
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• pp.373-397
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• 2020

Heave compensation is a vital part of various marine and offshore operations. It is used in various applications, including the transfer of cargo between two vessels in the open ocean, installation of topsides of an offshore structure, offshore drilling and for surveillance, reconnaissance and monitoring. These applications typically involve a load suspended from a hydraulically powered winch that is connected to a vessel that is undergoing dynamic motion in the ocean environment. The goal in these applications is to design a winch controller to keep the load at a regulated height by rejecting the net heave motion of the winch arising from ship motions at sea. In this study, we analyze and compare the performance of various control algorithms in stabilizing a suspended load while the vessel is subjected to changing sea conditions. The KCS container ship is chosen as the vessel undergoing dynamic motion in the ocean. The negative of the net heave motion at the winch is provided as a reference signal to track. Various control strategies like Proportional-Derivative (PD) Control, Model Predictive Control (MPC), Linear Quadratic Integral Control (LQI), and Sliding Mode Control (SMC) are implemented and tuned for effective heave compensation. The performance of the controllers is compared with respect to heave compensation, disturbance rejection and noise attenuation.

• Korean Journal of Metals and Materials
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• v.49 no.3
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• pp.211-220
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• 2011

To improve the low ductility and high strain-rate sensitivity in Sn-Bi based solder alloys, the influences of the minor additions of alloying elements (Ag, Mn, In) were investigated. The strain-stress curves of various Sn-40Bi(-X) alloys, including a pre-suggested Sn-40Bi-0.1Cu composition were measured using a tensile testing machine. As a result, the elongation and ultimate tensile strength (UTS) values were compared. The small addition (0.5 wt.%) of Ag significantly enhanced the ductility and high strain-rate sensitivity of the alloys at strain rates of $10^{-4}$ to $10^{-2}\;s^{-1}$ mainly due to the increase and refinement of eutectic lamellar structures. The microstructure change increased the area of grain boundaries, thus ameliorating the grain boundary sliding mode. It was also found that Mn is an effective element in enhancing the ductility, especially at the strain rates of $10^{-3}$ to $10^{-2}\;s^{-1}$ The enhancement is likely attributed to the fine and homogeneous microstructure in the alloys containing Mn.

• Ocean Systems Engineering
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• v.11 no.1
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• pp.59-81
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• 2021

The nonlinear formulation using the principle of virtual work-energy for free vibration of a large-sag extensible catenary riser in two dimensions is presented in this paper. A support at one end is hinged and the other is a free-sliding roller in the horizontal direction. The catenary riser has a large-sag configuration in the static equilibrium state and is assumed to displace with large amplitude to the motion state. The total virtual work of the catenary riser system involves the virtual strain energy due to bending, the virtual strain energy due to axial deformation, the virtual work done by the effective weight, and the inertia forces. The nonlinear equations of motion for two-dimensional free vibration in the Cartesian coordinate system is developed based on the difference between the Euler's equations in the static state and the displaced state. The linear and nonlinear stiffness matrices of the catenary riser are obtained and the eigenvalue problem is solved using the Galerkin finite element procedure. The natural frequencies and mode shapes are obtained. The results are validated with regard to the reference research addressing the accuracy and efficiency of the proposed nonlinear formulation. The numerical results for free vibration and the effect of the nonlinear behavior for catenary riser are presented.

• Journal of Drive and Control
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• v.18 no.4
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• pp.28-34
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• 2021

Among the currently available types of fuel, LNG emits a relatively small amount of nitrogen oxide and carbon dioxide when it burns in the engine. However, since LNG is a flammable material, leakage during bunkering can lead to accidents, such as fires. Therefore, it is necessary to install a remote operation emergency shut-down (ESD) valve to block the flow and leakage of LNG in an emergency situation that occurs during bunkering. The ESD valve uses a hydraulic driving device consisting of a hydraulic control valve and a hydraulic motor to control globe valve disc displacement, which regulates the flow path for LNG transfer. At this time, there are various nonlinearities in hydraulic driving devices; hence, it is necessary to design a controller with robust control performance against these uncertainties. In this study, modeling of the ESD valve was carried out, and a sliding mode controller to control the displacement of the globe valve disc was designed. As a result, it was confirmed that the designed control performance could be achieved by overcoming nonlinearity characteristics using the designed controller.

• Journal of the Korean Geotechnical Society
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• v.27 no.10
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• pp.25-33
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• 2011

Suction buckets have been widely used for offshore structures such as anchors for floating facilities, and the foundations of offshore wind energy turbines. However, the design guidelines for suction buckets have not been clearly suggested. Therefore, this study performed the numerical analysis by using ABAQUS (2010) to evaluate bearing capacities and load-movement behaviors of the suction bucket in NC clay. For the numerical analysis, the depth ratio L/D (L=embedded length of skirt; D=diameter of a bucket) was varied from 0.25 to 1.0. The analysis results showed that the L/D ratio has a significant effect on the bearing capacity, and the vertical and horizontal capacities respectively increased by about 40% and 90%, when L/D ratio increased from 0.25 to 1.0. At the vertical loading, the bucket showed the similar failure mode with a deep foundation, so the shaft and toe resistances can be separately evaluated. At the horizontal loading, the bucket with L/D=O.25 showed the sliding failure mode and the bucket with $L/D{\geq}0.5$ showed the rotational failure mode.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.5
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• pp.219-224
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• 2015

In this paper, the designed fish robots DOMI ver1.0 is researched and development for aquarium underwater robot. The presented fish robot consists of the head, 1'st stage body, 2nd stage body and tail, which is connected two point driving joints. The model of the robot fish is analysis to maximize the momentum of the robot fish and the body of the robot is designed through the analysis of the biological fish swimming. Also, Lighthill was applied to the kinematics analysis of robot fish swimming algorithms, we are applied to the approximate method of the streamer model that utilizes techniques mimic the biological fish. The swimming robot has two operating mode such as manual and autonomous operation modes. In manual mode the fish robot is operated to using the RF transceiver, and in autonomous mode the robot is controlled by microprocessor board that is consist PSD sensor for the object recognition and avoidance. In order to the submerged and emerged, the robot has the bladder device in a head portion. The robot gravity center weight is transferred to a one-axis sliding and it is possible to the submerged and emerged of DOMI robot by the breath unit. It was verified by the performance test of this design robot DOMI ver1.0. It was confirmed that excellent performance, such as driving force, durability and water resistance through the underwater field test.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.22 no.2
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• pp.79-87
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• 2010

This is the first of the two papers dealing with reliability analyses for external and internal stability of a quay wall constructed on a special foundation. A new practical reliability analysis method is proposed in this paper to evaluate the quantitative risk associated with external stability of a quay wall constructed on the deep cement mixed ground. The method can consider uncertainties in various design variables. For the risk estimation to external stability of the improved soil-quay wall, three corresponding limit state functions of sliding, overturning and bearing capacity are fully defined by introducing concept of the secondary random variable. Three representative reliability methods, MVFOSM, FORM and MCS are then applied to evaluate the failure probabilities of the three limit state functions explicitly expressed in terms of the basic and secondary random variables. From the reliability analysis results, the failure probabilities obtained from the three approaches are very close to each other, and the sliding failure mode appears to be the most critical when the earthquake loading is under consideration.

• Journal of the Korean Geosynthetics Society
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• v.22 no.3
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• pp.11-25
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• 2023

In this study, the design and numerical analysis method of the inclined self-supported wall using cement treated soil were studied. In the case of the inclined self-supported wall, the active earth pressure decreased due to the decrease in the coefficient, Ka according to the slope (angle) and the weight decreasing effect, thereby increasing the overall stability. The wall with the slope caused a change in failure mode from overturning to sliding on the excavation side, and the optimal slope was evaluated to be about 10°. Compared to the strength reduction method, the overall stability in numerical analysis results in conservative results in limit equilibrium analysis, so it was found that this method should be attended when designing. As a result of the parameteric study, the stability on bearing capacity and compression failure did not significantly increase above the slope of 10° when the surcharge was small (about 20kPa or less). In the case of cohesion of the backfill, The results similar to numerical analysis were found to consider cohesion. It was evaluated that stability on sliding, oveturning, shear, and tension failure increases in proportion to the thickness of the wall, but there is no significant change in the stability on the bearing capacity and compressive failure regardless of the thickness of the wall above a certain angle (about 10°).

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.4
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• pp.174-180
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• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional braking control systems. In order to achieve the superior braking performance through the wheel slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a wheel slip control system is developed for maintaining the vehicle stability based on the braking monitor, wheel slip controller and optimal target slip assignment algorithm. The braking monitor estimates the tire braking force, lateral tire force and brake disk-pad friction coefficient utilizing the extended Kalman filter. The wheel slip controller is designed based on the sliding mode control method. The target slip assignment algorithm is proposed to maintain the vehicle stability based on the direct yaw moment controller and fuzzy logic. The performance of the proposed wheel slip control system is verified in simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.4
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• pp.343-352
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• 2016

A multi-rotor vehicle is an unmanned vehicle consisting of multiple rotors. A multi-rotor vehicle can be categorized as tri-, quad-, hexa-, and octo-rotor depending on the number of the rotors. Multi-rotor vehicles have many advantages due to their agile flight capabilities such as the ability for vertical take-off, landing and hovering. Thus, they can be widely used for various applications including surveillance and monitoring in urban areas. Since multi-rotors are subject to uncertain environments and disturbances, it is required to implement robust attitude stabilization and flight control techniques to compensate for this uncertainty. In this research, an advanced nonlinear control algorithm, i.e. sliding mode control, was implemented. Flight experiments were carried out using an onboard flight control computer and various real-time autonomous attitude adjustments. The feasibility and robustness for flying in uncertain environments were also verified through real-time tests based on disturbances to the multi-rotor vehicle.