• Ocean Systems Engineering
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• 제9권4호
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• pp.349-368
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• 2019

Triceratops is one of the new generations of offshore compliant platforms suitable for ultra-deepwater applications. Apart from environmental loads, the offshore structures are also susceptible to accidental loads. Due to the increase in the risk of collision between ships and offshore platforms, the accurate prediction of structural response under impact loads becomes necessary. This paper presents the numerical investigations of the impact response of the buoyant leg of triceratops usually designed as an orthogonally stiffened cylindrical shell with stringers and ring frames. The impact analysis of buoyant leg with a rectangularly shaped indenter is carried out using ANSYS explicit analysis solver under different impact load cases. The results show that the shell deformation increases with the increase in impact load, and the ring stiffeners hinder the shell damage from spreading in the longitudinal direction. The response of triceratops is then obtained through hydrodynamic response analysis carried out using ANSYS AQWA. From the results, it is observed that the impact load on single buoyant leg causes periodic vibration in the deck in the surge and pitch degrees of freedom. Since the impact response of the structure is highly affected by the geometric and material properties, numerical studies are also carried out by varying the strain rate, and the location of the indenter and the results are discussed.

• Ocean Systems Engineering
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• 제2권2호
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• pp.115-135
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• 2012

The very low natural frequencies of tension leg platforms (TLP's) have raised the concern about the significance of the action of hydrodynamic wave forces on the response of such platforms. In this paper, a numerical study using modified Morison equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between surge, sway, heave, roll, pitch and yaw degrees of freedom on the dynamic behavior of TLP's. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark's beta integration scheme. The effect of wave characteristics such as wave period and wave height on the response of TLP's was evaluated. Only uni-directional waves in the surge direction was considered in the analysis. It was found that coupling between various degrees of freedom has insignificant effect on the displacement responses. Moreover, for short wave periods (i.e., less than 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on the wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations about its original position. Also, for short wave periods, a higher mode contribution to the pitch response accompanied by period doubling appeared to take place. For long wave periods, (12.5 and 15 sec.), this higher mode contribution vanished after very few cycles.

• Ocean Systems Engineering
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• 제4권4호
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• pp.327-342
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• 2014

The tension leg platform (TLP) is one of the compliant structures which are generally used for deep water oil exploration. With respect to the horizontal degrees of freedom, it behaves like a floating structure moored by vertical tethers which are pretension due to the excess buoyancy of the platform, whereas with respect to the vertical degrees of freedom, it is stiff and resembles a fixed structure and is not allowed to float freely. In the current study, a numerical study for square TLP using modified Morison equation was carried out in the time domain with water particle kinematics using Airy's linear wave theory to investigate the effect of changing the tether tension force on the stiffness matrix of TLP's, the dynamic behavior of TLP's; and on the fatigue stresses in the cables. The effect was investigated for different parameters of the hydrodynamic forces such as wave periods, and wave heights. The numerical study takes into consideration the effect of coupling between various degrees of freedom. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables. Nonlinear equation was solved using Newmark's beta integration method. Only uni-directional waves in the surge direction was considered in the analysis. It was found that for short wave periods (i.e., 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on tether tension force, wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations that is significantly dependent on wave height, and that special attention should be given to tethers fatigue because of their high tensile static and dynamic stress.

• 대한기계학회논문집A
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• 제24권4호
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• 대한토목학회논문집
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• 제5권1호
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• pp.21-30
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• 1985

Tension Leg Platform (TLP)이란 평행위치로부터 일정 범위내에서 움직임으로 인하여 외 력의 효과를 완화시키는 compliant 구조물인 동시에, 기인장력을 받고 있는 연직 anchor cable 이 있으므로 부력이 자중을 초과하게 되는 안정한 platform 이다. 일반적으로 부체는 해상조건이 험할수록, 그리고 수심이 깊어질수록 동요가 심해지는데 TLP는 기인장 cable로 인하여 심해에서도 비교적 동요가 작아서 최근 대수심구조물의 총아로 각광받고 있다. 일찌기 Paulling 등이 TLP 거동의 예측을 위하여 수정된 Morison 방정식을 사용하는 선형동유체력합성방법을 발표하였다. 그러나 만일 TLP의 각 부재가 Morison 방정식의 가정이 성립할 수 없을 정도로 크다면 새로운 해석이 필요하다 하겠다. 일본의 Tanaka는 이런 경우에 McCamy-Fuchs 이론의 결과치를 이용하였으나, 완전한 해석이라기 보다는 일종의 간편법이라 하겠다. 본고에서는 큰 배수용적을 가진 연직부체가 있고, 이론적 해석의 결과를 검토해 볼 수 있는 수리모형 실험 결과가 있는 Deep Oil Technology (DOT) 회사의 TLP를 대상으로 하였다. 이 TLP는 부력을 전담하고 있는 연직축대칭 원통과 이들을 연결하고 있는 세부재로 이루어져 있어 축대칭부분에는 축대칭 Green 함수를 사용하여 동유체력을 구하고 세부재는 종래의 수정된 Morison 방정식의 항력항을 선형화하여 동유체력을 구하였다. 그리하여 부재의 각 미소부분에서 구한 힘들을 TLP의 중심에 원점을 둔 좌표계로 옮겨 동적응답을 구한 것이다. 본 해석에서 부재 상호간의 작용은 무시하였으며 단지 부재간의 거리효과만 고려하였다. 따라서 사용된 좌표계는 전체 (Global) 좌표계, 지점 (Local) 좌표계 및 파랑 (Wave) 좌표계 등이었고 각 좌표계간의 변환식이 필요하였다. 전체적인 해석정도는 선형이론으므로 케이블의 강성도 역시 선형적으로 구하였으며, 앞서 언급했다시피 Morison 방정식의 비선형항인 항력항은 Fourier 해석으로 선형화 하였다. 이러한 Fourier 해석은 잘 알려져 있는 Lorentz 원리와 같다고 볼 수 있다. 세부재의 경우 접선력은 무시하였고 수입자의 운동에 의한 부채에 대한 수직력만 고려하였다. 여기서 파랑좌표계에서 지점좌표계로의 좌표변환이 주의를 요하고 있다. 이제 이렇게 구한 각 힘들을 전체좌표 계에서 6개의 자유도별로 운동방정식에 대입하면 각 자유도별 동적응답이 구하여지는 것이다. DOT TLP의 Surge mode에 대한 동적응답을 실험치와 비교하여 본 결과, 세부재에 대한 고려를 뺄 수 없음을 알 수 있었다. 이는 연직축대칭 부체의 크기가 그리 크지 않으므로 인한 것이며, TLP의 원형의 경우에는 보다 더 관성력이 지배적일 것으로 사료된다.

• 대한족부족관절학회지
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• 제7권1호
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• pp.78-82
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• 2003

Purpose: The purpose of the study is to evaluate the clinical outcomes of acute achilles tendon rupture patients treated by early mobilization after operative repair. Materials and Methods: In this retrospective study, 12 patients of acute Achilles tendon rupture were surgically treated from May 2001 to November 2002, with follow-up period of at least 6 months. There were 10 men and 2 women, and mean age was 35.9 year. The repair method was single Krackow suture technique. Two to three weeks after the operation, early ROM with removable ankle-foot orthosis(AFO) was started. We used Amer-Lindholm scale for the clinical evaluation and analyzed patient's satisfaction and subjective strength deficit. Results: We had 11 excellent results(92%), and 1 good results(8%). One-leg heel raising was possible in all patients. All the patients returned to the preinjury occupations and 7 patients(58%) reached the preoperative level of sports activities. There was no significant difference in ankle ROM and ankle plantar flexion isokinetic strength compared to contralateral side. There was, no reruptures. Conclusion: Early mobilization proved to be a well tolerated, safe, and effective means for the compliant patient.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2008년도 춘계학술대회 논문집
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• pp.345-346
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• 2008

Most pedestrian-vehicle crashes involve frontal impacts, and the vehicle front structures are responsible for most pedestrian injuries. The vehicle bumper contacts the lower legs at first. The leading edge of the hood (bonnet) strikes the proximal upper leg and finally, the head and upper torso hit the top surface of the hood or windscreen. In essence, the pedestrian wraps around the front of the vehicle until pedestrian and vehicle are traveling at the same speed. Since the hood surface is made from sheet metal, it is a relatively compliant structure and does not pose a major risk for severe head trauma. However, serious head injury can occur when the head hits a region of the hood with stiff underlying structures such as engine components. The solution is to provide sufficient clearance between the hood and underlying structures for controlled deceleration of a pedestrian's head. However, considerations of aerodynamic design and styling can make it extremely difficult to alter a vehicle's front end geometry to provide more under-hood space. In this study, the safe hood will be developed by designing new conceptual inner panel in order to decrease the pedestrian's head injuries without changing hood outer geometry.