• Journal of the Society of Naval Architects of Korea
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• v.41 no.6
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• pp.102-113
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• 2004

A name of 'Sea Ship' and 'River Ship' had been used based on the comprehension for the difference of ship's hull form in Chosun period. We can find a number of literature describing the situation which transferred the cargo from Sea Ship to River Ship because Sea Ship could not go upstream in the river of which the current is fast and the water depth is low. The reason why Sea Ship could not go upstream was that the bottom of Sea Ship was narrow, it means the non-flat bottom. Generally Sea Ship had short length, wide breadth, so L/B of 2.2∼3.0, and high draft and depth. River Ship has long length, narrow breadth, so L/B of 5.0∼6.3, and low draft and the flat bottom in order to adapt to the low water depth of the river.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• Proceedings of KOSOMES biannual meeting
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• 2005.11a
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• pp.153-158
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• 2005

The turbulent shear flaw around a surface-mounted vertical wall was investigated using the two-frame PIV(CACTUS 3.1) system. From this study, it is revealed that at least 500 instantaneous velocity field data are required for ensemble average to get reliable turbulence statistics, but only 200 field data are sufficient for the time-averaged mean velocity information The flow has an unsteady recirculation region post vertical wall with bottom gap, followed by a slow relaxation to the fiat-plate boundary layer flow. The time-averaged reattachment length estimated from the streamline distribution is about x/H=3H. The large eddy structure in the separated shear layer seems to have signification influence on the development of the separated shear layer and the reattachment process.

• Journal of Navigation and Port Research
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• v.31 no.3 s.119
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• pp.271-279
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• 2007

Ship structures are basically an assembly of plate elements and estimation load-carrying capacity or the ultimate strength is one of the most important criterion for estimated safety assessment and rational design on the ship structure. Also, Structural elements making up ship plated structures do not work separately against external load. One of the critical collapse events of a ship structure is the occurrence of overall buckling and plastic collapse of deck or bottom structure subjected to longitudinal bending. So, the deck and the bottom plates are reinforced by a number af longitudinal stiffeners to increase their strength and load-carrying capacity. For a rational design avoiding such a sudden collapse, it is very important to know the buckling and plastic behaviour or collapse pattern of the stiffened plate under axial compression. In this present study, to investigate effect af modeling range, the finite element method are used and their results are compared varying the analysis ranges. When making the FEA model, six types of structural modeling are adopted varying the cross section of stiffener. In the present paper, a series of FEM elastoplastic large deflection analyses is performed on a stiffened plate with fiat-bar, angle-bar and tee-bar stiffeners. When the applied axial loading, the influences of cross-sectional geometries on collapse behaviour are discussed. The purpose of the present study is examined to numerically calculate the characteristics of buckling and ultimate strength behavior according to the analysis method of ship's stiffened plate subject to axial loading.