• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.154-164
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• 2019

A rotor dynamic analysis is mandatory for stability and design optimization of submerged propellers and turbines. An accurate simulation requires a proper consideration of fluid-induced reaction forces. This paper presents a bi-directional coupling of a bond graph method solver and an unsteady vortex lattice method solver where the former is used to model the rotor dynamics of the power train and the latter is used to predict transient hydrodynamic forces. Due to solver coupling, determination of hydrodynamic coefficients is obsolete and added mass effects are considered automatically. Additionally, power grid and structural faults like grid fluctuations, eccentricity or failure could be investigated using the same model. In this research work a fast, time resolved dynamic simulation of the complete power train is conducted. As an example, the rotor dynamics of a tidal stream turbine is investigated under two inflow conditions: I - shear flow, II - shear flow + water waves.

• Bulletin of the Society of Naval Architects of Korea
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• v.6 no.1
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• pp.1-24
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• 1969

Added masses of two-dimensional cylinders of curvilinear-element sections with chines, which are similar to marked V character ship sections with either single or double chines, oscillating at high frequency in a free surface of an ideal fluid are calculated for both vertical and horizontal vibration by employing two particular two-parameter families of the conformal transformation. The numerical results are graphically presented in the forms of added mass coefficient curves in terms of the sectional area coefficient and the half beam-draft ratio together with the section contours derived with the employed transformations, and discussed in comparision with those of the Lewis forms and of straightline-element sections with single chine for vertical vibration, and, for horizontal vibration, with those of the Lewis forms.

• Structural Engineering and Mechanics
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• v.42 no.6
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• pp.831-847
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• 2012

Impact from water-borne debris during tsunami and flood events pose a potential threat to structures. Debris impact forces specified by current codes and standards are based on rigid body dynamics, leading to forces that are dependent on total debris mass. However, shipping containers and other debris are unlikely to be rigid compared to the walls, columns and other structures that they impact. The application of a simple one-dimensional model to obtain impact force magnitude and duration, based on acoustic wave propagation in a flexible projectile, is explored. The focus herein is on in-air impact. Based on small-scale experiments, the applicability of the model to predict actual impact forces is investigated. The tests show that the force and duration are reasonably well represented by the simple model, but they also show how actual impact differs from the ideal model. A more detailed three-dimensional finite element model is also developed to understand more clearly the physical phenomena involved in the experimental tests. The tests and the FE results reveal important characteristics of actual impact, knowledge of which can be used to guide larger scale experiments and detailed modeling. The one-dimensional model is extended to consider water-driven debris as well. When fluid is used to propel the 1-D model, an estimate of the 'added mass' effect is possible. In this extended model the debris impact force depends on the wave propagation in the two media, and the conditions under which the fluid increases the impact force are discussed.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.17 no.1
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• pp.41-46
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• 2005

The seismic response characteristics of a port structure were investigated by the earthquake analyses of the structure subjected to high-, low-frequency component, and Uljin earthquakes. In the Fluid-Structure-Soil Interaction(FSSI) analysis, the fluid is modeled by the 4-node quadrilateral element which is a modification of a structural plane element, and the port structure and foundation is modelled by the plane strain element. Since the present method directly models the fluid-structure-soil interaction system using finite element method, it can be easily applied to the dynamic analysis of a 2-D fluid-port-soil system with complex geometry. The results of the seismic coefficient. added mass, and FSSI methods are compared. The results showed that the earthquake with high frequency components more affects the seismic response of the structure than that of low frequency components.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Bulletin of the Society of Naval Architects of Korea
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• v.14 no.3
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• pp.13-22
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• 1977

The hydrodynamic forces acting on a forced oscillating 2-dimensional cylinder on a free surface of a fluid of a finite depth are calculated by distributing singularities on the immersed body surface. And the Haskind-Newman relation in a fluid of a finite depth is derived. The wave exciting force of the cylinder to an oscillation is also calculated by using the above relation. The method is applied to a circular cylinder swaying in a water of finite depth, and then, to a rectangular cylinder heaving, swaying, and rolling. The results of above cases give a good agreement with those by earlier investigators such as Bai, Keil, and Yeung. Also, this method is applied to a Lewis form cylinder with a half beam-to-draft ratio of 1.0 and a sectional area coefficient of 0.941, and to a bulbous section cylinder which is hard to represent by a mapping function. The results reveal that the hydrodynamic forces in heave increase as the depth of a water decrease, but in sway or roll, the tendency of the hydrodynamic forces is difficult to say in a few words. The exciting force to heave for a bulbous section cylinder becomes zero at two frequencies. The added mass moment of inertia for roll is seemed to mainly depend on the sectional shape than the water depth.

• The KSFM Journal of Fluid Machinery
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• v.6 no.3 s.20
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• pp.44-50
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• 2003

An experiment is conducted for measuring the performance of an air tool, which is operated at 100,000 RPM in an unloaded state with very low torque. A 551 kPa in gauge pressure is supply to the inlet of an air tool. An experimental apparatus is developed as a friction type dynamometer. Inlet total pressure, air flow rate, rotational speed and operating force are measured simultaneously. Torque, output power and specific output power are obtained with different rotational speeds. Those are compared with the experimental results which were obtained by a commercial dynamometer. However, no commercial dynamometers are available for measuring the torque above 30,000 RPM. In order to reduce the rotational speed, a reduction gear is applied between the air tool and the commercial dynamometer. Torque and power obtained by the commercial dynamometer show $55\%$ lower than those obtained by the developed friction type dynamometer, because the mass is added to the rotor of air tool for the braking system of the commercial dynamometer and power loss is generated by the reduction gear. From the compared results, the friction type dynamometer should be applied for measuring the performance of the air tool operating at low torque and high RPM.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.336-341
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• 2012

The vertical-axis tidal current turbine (VAT) consisting of blades, struts to support blades, shaft, generator and so forth requires anti-resonance design against fluid fluctuation forces generated on blades to ensure its stable operation. In this study, a free vibration analysis program based on the finite element method is developed for efficient anti-resonance design of VAT in the preliminary design stage. In the finite element modeling, the VAT structure components are regarded as beam elements. Added masses due to the fluid and structure interaction of VAT evaluated by empirical formulas are considered as lumped mass elements. In addition, input parameters required for the analysis can be automatically prepared from the principal dimensions of VAT to make anti-resonance design more convenient. The validity of applied methods is verified by the comparison of the numerical results obtained from MSC/Nastran and the developed program for two VAT models.

• Bulletin of the Society of Naval Architects of Korea
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• v.18 no.1
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• pp.19-27
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• 1981

The surge motion of a freely-floating sphere in a regular wave is studied within the framework of a linear potential theory. The fluid is assumed to be perfect and only the steady-state harmonic motion in a water of infinite depth is considered. A velocity potential describing the fluid motion is decomposed into three parts; the incident wave potential, the diffraction potential and the radiation potential. In this paper the diffraction potential and the radiation potential are analysed by using multipole expansion method. Upon calculating pressures over the immersed surface of the sphere, the hydrodynamic forces are evaluated in terms of Froude-Krylov, diffraction, added mass and damping forces as functions of the frequency of the incident wave. Finally the frequency dependence of two pertinent parameters, the amplitude ratio and the phase lag between the motion of the sphere and that of the incident wave is derived from the equation of motion. As for numerical results the general tendency of the present calculation shows good agreement with Kim's work who also treated this problem utilizing the Green's function method.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.