• Journal of the Society of Naval Architects of Korea
• /
• v.29 no.2
• /
• pp.38-47
• /
• 1992

The motion response of a ship moored in a rectangular harbor excited by long waves has been studied theoretically and experimentally. Within the framework of potential theory, matched asymptotic expansion techniques are exployed to analyze the problem. The fluid domain is divided into the ocean and the harbor regions for the analysis of wave response in a harbor without ship. The wave responses in both the ocean and the harbor sides are solved first independently in terms of Green's functions, which are the solutions of the Helmholtz equation satisfying appropriate boundary conditions. Slender body approximations are used to obtain the velocity jumps across the ship, which are associated with the symmetric motion modes of the ship. Unknowns contained in each solution are finally determined by matching at an intermediate zone between two neighboring regions. Theoretical results predict the ship motion qualitatively well. The main source of quantitative discrepancies is presumably due to real fluid effects such as separation at the harbor entrance and friction on harbor boundaries.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.2
• /
• pp.198-204
• /
• 2012

Tracking and recognition of robots are required for the cooperation task of robots in various environments. In the paper, a tracking control system of moving robot using stereo image processing, code-book model and fuzzy controller is proposed. First, foreground and background images are separated by using code-book model method. A candidate region is selected based on the color information in the separated foreground image and real distance of the robot is estimated from matching process of depth image that is acquired through stereo image processing. The open and close processing of image are applied and labeling according to the size of mobile robot is used to recognize the moving robot effectively. A fuzzy tracking controller using distance information and mobile information by stereo image processing is designed for effective tracking according to the movement velocity of the target robot. The proposed fuzzy tracking control method is verified through tracking experiments of mobile robots with stereo camera.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.26 no.3
• /
• pp.41-50
• /
• 1989

A basic formulation of the panel method, which is based on the potential field formulation, is reviewed for the case of two-dimensional hydrofoil problems. Numerical procedures to improve the computational efficiency of the panel method are suggested. By investigating local behavior of the flow around the trailing edge, a wedge type Kutta condition is formulated. By subdividing the trailing edge panels, where dipole strengths of the subdivided panels follow the local behavior of the potential values of the flow outside a wedge, the circulation around a hydrofoil is calculated accurately with a relatively small number of panels. The subdividing technique to improve the accuracy of the numerical Kutta condition is proved to be efficient. A local behavior of the flow around the leading edge is also investigated. By matching the flow around the leading edge with that around a parabola, a very accurate velocity distribution is obtained with relatively small number of panels. An accurate prediction of the stagnation point and the pressure distribution near the leading edge may contribute to improve the accuracy of cavity predictions and boundary layer calculations around hydrofoils.

• Journal of the Society of Naval Architects of Korea
• /
• v.30 no.3
• /
• pp.29-40
• /
• 1993

The fundamental characteristics of nonlinear free-surface waves generated by a shallowly submerged 3-dimensional hydrofoil are investigated. The fluid is assumed inviscid, incompressible and its motion irrotational. The surface tension on the free-surface is neglected. The hydrofoil is represented by a horseshoe vortex system whose shape is assumed fixed. Also the strengths of vortices are assumed given. The exact problem for the wave potential due to the horseshoe vortex system is formulated by the variational principle based on the classical Hamilton's principle. The localized finite element method is used in the numerical computations. In order to increase the numerical efficiency, an intermediate nonlinear-to-linear transition buffer subdomain for a smooth matching is introduced between the fully nonlinear computation subdomain and the truncated linear infinite subdomain. Also used is the modal analysis to reduce the computation tome drastically. The effect of inflow velocity, submergence depth of the hydrofoil and the shape of circulation distribution on the wave profiles are thoroughly examined. Especially it was possible to investigate the nonlinear influence of the free vortex on the free vortex. The nonlinear free-surface effect on the induced forces on the hydrofoil is also investigated.

• Journal of the Korean Society of Hazard Mitigation
• /
• v.11 no.3
• /
• pp.157-163
• /
• 2011

In this study, after the target basin was divided into both overland and channel grids, the travel time from center of each grid cell to watershed's outlet was calculated based on the manning equation. Through this process, volumetric discharge was calculated according to the isochrones and finally, the direct runoff hydrograph was estimated considering watershed's hydrodynamic characteristics. Sanseong subwatershed located in main stream of Bocheong basin was selected as a target basin. The model parameters are only two: area threshold and channel velocity correction factor; the optimized values were estimated at 3,800 and 3.3, respectively. The developed model based on the tuned parameters led to well-matching results between observed and calculated hydrographs (mean of absolute error of peak discharge: 3.41%, mean of absolute error of peak time: 0.67 hr). Moreover, the analysis results regarding histogram of travel time-contribution area demonstrates that the proposed model characterizes relatively well hydrodynamic characteristics of the catchment due to effective rainfall.

• Journal of Auto-vehicle Safety Association
• /
• v.13 no.4
• /
• pp.14-19
• /
• 2021

This paper presents LiDAR static obstacle map based vehicle dynamic state estimation algorithm for urban autonomous driving. In an autonomous driving, state estimation of host vehicle is important for accurate prediction of ego motion and perceived object. Therefore, in a situation in which noise exists in the control input of the vehicle, state estimation using sensor such as LiDAR and vision is required. However, it is difficult to obtain a measurement for the vehicle state because the recognition sensor of autonomous vehicle perceives including a dynamic object. The proposed algorithm consists of two parts. First, a Bayesian rule-based static obstacle map is constructed using continuous LiDAR point cloud input. Second, vehicle odometry during the time interval is calculated by matching the static obstacle map using Normal Distribution Transformation (NDT) method. And the velocity and yaw rate of vehicle are estimated based on the Extended Kalman Filter (EKF) using vehicle odometry as measurement. The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment, and is verified with data obtained from actual driving on urban roads. The test results show a more robust and accurate dynamic state estimation result when there is a bias in the chassis IMU sensor.

• Wind and Structures
• /
• v.36 no.2
• /
• pp.121-131
• /
• 2023

Aiming at the problem that fatigue characteristics of metal roof rely on local physical tests and lacks the cyclic load sequence matching with regional climate, this paper proposed a method of constructing the fatigue load spectrum based on integration of wind load model, measured data of long-span metal roof and climate statistical data. According to the turbulence characteristics of wind, the wind load model is established from the aspects of turbulence intensity, power spectral density and wind pressure coefficient. Considering the influence of roof configuration on wind pressure distribution, the parameters are modified through fusing the measured data with least squares method to approximate the actual wind pressure load of the roof system. Furthermore, with regards to the wind climate characteristics of building location, Weibull model is adopted to analyze the regional meteorological data to obtain the probability density distribution of wind velocity used for calculating wind load, so as to establish the cyclic wind load sequence with the attributes of regional climate and building configuration. Finally, taking a workshop's metal roof as an example, the wind load spectrum is constructed according to this method, and the fatigue simulation and residual life prediction are implemented based on the experimental data. The forecasting result is lightly higher than the design standards, consistent with general principles of its conservative safety design scale, which shows that the presented method is validated for the fatigue characteristics study and health assessment of metal roof.

• Geophysics and Geophysical Exploration
• /
• v.9 no.1
• /
• pp.19-29
• /
• 2006

The first Japanese pilot-scale $CO_2$ sequestration project has been undertaken in an onshore saline aquifer, near Nagaoka in Niigata prefecture, and time-lapse well logs were carried out in observation wells to detect the arrival of injected $CO_2$ and to evaluate $CO_2$ saturation in the reservoir. $CO_2$ was injected into a thin permeable zone at the depth of 1110m at a rate of 20-40 tonnes per day. The total amount of injected $CO_2$ was 10400 tonnes, during the injection period from July 2003 to January 2005. The pilot-scale demonstration allowed an improved understanding of the $CO_2$ movement in a porous sandstone reservoir, by conducting time-lapse geophysical well logs at three observation wells. Comparison between neutron well logging before and after the insertion of fibreglass casing in observation well OB-2 showed good agreement within the target formation, and the higher concentration of shale volume in the reservoir results in a bigger difference between the two well logging results. $CO_2$ breakthrough was identified by induction, sonic, and neutron logs. By sonic logging, we confirmed P-wave velocity reduction that agreed fairly well with a laboratory measurement on drilled core samples from the Nagaoka site. We successfully matched the history changes of sonic P-wave velocity and estimated $CO_2$ saturation a(ter breakthrough in two observation wells out of three. The sonic-velocity history matching result suggested that the sweep efficiency was about 40%. Small effects of $CO_2$ saturation on resistivity resulted in small changes in induction logs when the reservoir was partially saturated. We also found that $CO_2$ saturation in the $CO_2$-bearing zone responded to suspension of $CO_2$ injection.

• Korean Journal of Optics and Photonics
• /
• v.14 no.5
• /
• pp.545-554
• /
• 2003

Design of the optical modulator composed of a three-waveguide coupler and CPW traveling-wave electrodes was carried out. Switching phenomena of three-waveguide couplers were analyzed by using the coupled mode theory, and the coupling-lengths of the devices were calculated by means of the FDM. CPW traveling-wave electrodes were analysed by the CMM and SOR simulation technique in order to find the conditions of phase-velocity and impedance matching. Traveling-wave modulators were fabricated on z-cut LiNbO$_3$ substrate. Ti was in-diffused in LiNbO$_3$ to make waveguides and Au electrodes were built on the waveguides by the electrolyte technique. The fabricated modulator chip was end-polished, pig-tailed and packaged in a brass mount with K-connector. The insertion loss and the switching voltage of the optical modulator were about 4㏈ and 19V, respectively. Network analyzer was used to obtain the S parameter and the corresponding RF response. From the measurement, parameters of the traveling-wave electrodes were extracted to be Z$_{c}$= 45 Ω, N$_{eff}$=2.20, and $\alpha$$_{0}$=0.055/cm√GHZ. The measured optical response R($\omega$) was compared with the theoretically estimated one, showing both responses agree well. The measurement results revealed that 3㏈ bandwidth turned out to be about 13 GHz.

• Korean Journal of Optics and Photonics
• /
• v.15 no.4
• /
• pp.375-384
• /
• 2004

Switching phenomenon of a three-waveguide optical coupler was analyzed by using the coupled mode theory, and the coupling-length of the device was calculated by means of the FDM. CPW traveling-wave electrodes were designed by the CMM and SOR simulation techniques so as to satisfy the conditions of phase-velocity and impedance matching. Traveling-wave modulators were fabricated on a z-cut LiNbO$_3$ substrate. Ti was in-diffused in LiNbO$_3$ to make waveguides and Au electrodes were built on the waveguides by the electroplating technique. Insertion loss and switching voltage of the optical modulator were about 4 ㏈ and 15.6V. Network analyzer was used to obtain S parameters and corresponding RF response. From the measurement, parameters of the traveling-wave electrodes were extracted as such Z$_{c}$=39.2 $\Omega$, Neff=2.48, and a0=0.0665/cm((GHz) (1/2)). The measured optical response R(w) was compared with the theoretically estimated and both responses were shown to agree well. The measurement results revealed that the ㏈ bandwidth turned out to be about 13 GHz.