• International Journal of Ocean System Engineering
• /
• 제1권4호
• /
• pp.222-229
• /
• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• 전자공학회논문지A
• /
• 제32A권12호
• /
• pp.184-197
• /
• 1995

In this paper, high speed IC package-to-package interconnections are modeled as lossless multiconductor transmission lines operating in the TEM mode. And, three mathematical algorithms for computing electrical parameters of the lossless multiconductor transmission lines are described. A semi-analytic Green's function method is used in computing per unit length capacitance and inductance matrices, a matrix square root algorithm based on the QR algorithm is used in computing a characteristic impedance matrix, and a matrix algorithm based on the theory of M-matrix is used in computing a diagonally matched load impedance matrix. These algorithms are implemented in a computer program DIME (DIagonally Matched Load Impedance Extractor) which computes electrical parameters of the lossless multiconductor transmission lines. Also, to illustrate the concept of design database for high speed IC package-to-package interconnection, a database for the multi conductor strip transmission lines system is constructed. This database is constructed with a sufficiently small number of nodes using the multi-dimensional cubic spline interpolation algorithm. The maximum interpolation error for diagonally matched load impedance matrix extraction from the database is 1.3 %.

• Journal of Mechanical Science and Technology
• /
• 제16권4호
• /
• pp.512-521
• /
• 2002

The flap-lag-torsion coupled aeroelastic behavior of a hingeless rotor blade with composite flexures in hovering flight has been investigated by using the finite element method. The quasisteady strip theory with dynamic inflow effects is used to obtain the aerodynamic loads acting on the blade. The governing differential equations of motion undergoing moderately large displacements and rotations are derived using the Hamilton's principle. The flexures used in the present model are composed of two composite plates which are rigidly attached together. The lead-lag flexure is located inboard of the flap flexure. A mixed warping model that combines the St. Versant torsion and the Vlasov torsion is developed to describe the twist behavior of the composite flexure. Numerical simulations are carried out to correlate the present results with experimental test data and also to identify the effects of structural couplings of the composite flexures on the aeroelastic stability of the blade. The prediction results agree well with other experimental data. The effects of elastic couplings such as pitch-flap, pitch-lag, and flap-lag couplings on the stability behavior of the composite blades are also investigated.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
• /
• pp.218-223
• /
• 2000

Ultra precision progressive die have used for above one million's lot size of production part. In the field of design and making tool for press working, the progressive die for sheet metal (STS 304, thickness : 0.5mm) is a specific division. In order to prevent the defects, the optimum design of the production part, strip layout, die design, die making and tryout etc. are necessary. They require analysis of many kinds of important factors, i.e. theory and practice of metal press working and its phenomena, die structure, machining condition for die making, die materials, heat treatment of die component, know-how and so on. In this study, we designed and constructed a progressive die of multi-stage and performed try out. Out of these processes the die development could be taken for advance. Especially the result of tryout and its analysis become the characteristics of this paper (part 1 and part 2) that nothing might be ever seen before such as this type of research method on all the processes. In the part 2 of this study we treated die making and tryout mostly.

• 대한의용생체공학회:학술대회논문집
• /
• 대한의용생체공학회 1997년도 추계학술대회
• /
• pp.14-18
• /
• 1997

In this paper, we suggested and made a classifier or qualitative and quantitative analysis in urine analysis system. Input variable number and fuzzy membership function was made from determination of standard sample, and the fuzzy rules were determined by the analysis of spectroscopic properties of pads in strip. Fuzzy classifier used in urine analysis system was evaluated or the standard samples in each items and degrees. Negative and positive response of urine test was classified in good property, but detail classification or quantitative analysis had 8% maximum error in each items. If fuzzy membership unction and generation of rule are supplemented, suggested fuzzy classifier can be applied to the clinical test.

• 수산해양기술연구
• /
• 제19권2호
• /
• pp.117-124
• /
• 1983

정면규칙파중에서 Bow-flare부 충격은 선저충격에 비해서 작용 시간이 길고, 선체 수직운동진폭이 큰 상태이거나, 파고가 큰 입사파가 적용되는 경우에 선체에 작용하는 충격력은 상당히 크며, 파고가 높아지면, 발생하는 모우멘트도 증가한다. 2. Bow-flare부가 큰 선형의 경우에는 선저노출이 일어나지 않더라도 부가질량의 급격한 증가에 따라 상당히 큰 충격력이 작용한다. 3. Deckwetness, 불규칙파중에서의 응답해석, 상대변위를 구할 때 Dynamic Swell-up의 양을 고려한 계산 등의 검토가 요망된다.

• 대한조선학회지
• /
• 제20권3호
• /
• pp.17-20
• /
• 1983

There have been many investigations of predicting the added resistance of a ship in seaway since Havelock discussed this topic in 1937. Among these researches, Maruo's theoretical approach is known as the most consistent mathematical representation for added resistance of a ship in regular head sea. In his theory, the hull form of a ship is represented under the slender body approximation. But the motion responses which were used for the calculation of the added resistance have been obtained by using the strip method which is based on an approximation that the hull form may be expressed as set of two dimensional cylinder sections in longitudinal direction. Therefore two different methods for hull form representation were implicity used in Maruo's original work for the added resistance calculation. Utilizing the characteristics that hull forms are usually slender, Kan expressed the hull form as two dimensional cylinder at each station by using the Taylor series expansion for the length wise direction. Putting this idea into Maruo's original work, the added resistance can be obtained with the explicitly unique representation of the hull form. For the purpose of comparison the added resistance of a hull form(series 60, Cb=0.6) was calculated by using the motion response obtained by Shintani. The numerical result showes a good qualitative agreement with the experimental result by Sibul.

• 대한조선학회논문집
• /
• 제33권3호
• /
• pp.22-34
• /
• 1996

본 논문에서는 선상가열에 의한 평판의 굽힘변형과 관련하여 열탄소성보의 잔류변형과 잔류음력의 분포를 예측하기 위한 간이 수치해석을 시도하였다. 3차원 평판의 거동을 2차원 보의 변형으로 단순화시키기 위하여 수정된 스트립 모델을 사용하고 여기에 유한요소법을 사용하여 시간의 변화에 따른 열탄소성보의 거동을 간편하게 계산할 수 있는 PC용 전산프로그램을 개발하였다. 본 해석에서는 온도장을 구하는 과정은 생략하였고 이미 주어진 온도분포를 사용하여 열변형이 발생하는 문제만을 다루고 있으며 온도에 따른 재료특성치의 변화도 고려하였다. 본 프로그램의 검증을 위하여 계산결과는 기발표된 실험결과나 유사한 방법의 수치해석 결과와 비교하였다.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제3권1호
• /
• pp.80-85
• /
• 2011

For the assessment of statistical characteristics of wave loads in the real sea state, the probability distribution of wave loads are computed based on the sufficient duration of computations in irregular waves. First of all, the estimation of wave impact loads is well modified applying the displacement potential formulation, which was proposed by one of authors, for solving Wagner's flow model. Consequently, the present computation method is also modified. Prior to the computation in irregular waves, preliminary computation to determine the adequate number of realization of irregular waves is examined. The effect of hull girder vibration on the statistical characteristics is examined by means of the computation with/without hull girder vibration. It is found that hull girder vibration has a certain effect on the probability of occurrence of wave loads. Furthermore, computations taking account of the effect of operation, that is the effects of ship speed and course change, is conducted for the rational evaluation of the effects of hull girder vibration. It is clarified that the effect of operation on the statistical characteristics of wave loads is significant. It is verified that the evaluation without the effect of operation may overestimate the effect of hull girder vibration.

• 대한조선학회논문집
• /
• 제52권3호
• /
• pp.187-197
• /
• 2015

This study aims the development of a semi-analytic method for the parametric roll of large containerships advancing in longitudinal waves. A 1.5 Degree-of-Freedom(DOF) model is proposed to account the change of transverse stability induced by wave elevations and vertical motions (heave and pitch). By approximating the nonlinearity of restoring moment at large heel angles, the magnitude of roll amplitude is predicted as well as susceptibility check for parametric roll occurrence. In order to increase the accuracy of the prediction, the relationship between righting arm(GZ) and metacentric height(GM) is examined in the presence of incident waves, and then a new formula is proposed. Based on the linear approximation of the mean and first harmonic component of GM, the equation of parametric roll in irregular wave excitations is introduced, and the computational results of the proposed model are validated by comparing those of weakly nonlinear simulation based on an impulse-response-function method combined with strip theory. The present semi-analytic doesn’ t require heavy computational effort, so that it is very efficient particularly when numerous sea conditions for the analysis of parametric roll should be considered.