• Journal of Korean Society of Coastal and Ocean Engineers
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• v.7 no.1
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• pp.108-115
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• 1995

An efficient model for the dynamic analysis of caisson breakwaters under impulsive wave loadings is presented. The caisson structure is. regarded as a rigid body, and the rubble mound foundation is idealized as virtual added masses, springs, and dampers using the elastic half-space theory. The frequency-dependent hydrodynamic added mass and damping coefficients are considered by using the time memory functions and added mass at infinite frequency. To simulate the permanent sliding phenomenon of the caisson, the horizontal spring is modeled as a nonlinear spring with plastic behaviors. Comparisons with experimental results show that the present model gives fairly good results. Sensitivity analysis is performed for the relevant parameters affecting the dynamic responses of a caisson breakwater. Numerical experiments are also carried out to investigate the applicability to the prediction of permanent sliding distance and critical weight of the caisson.

• Bulletin of the Society of Naval Architects of Korea
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• v.19 no.1
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• pp.23-32
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• 1982

Herein the motion of a freely-floating sphere in a water of finite depth is analysed within the framework of a linear potential theory. A velocity potential describing fluid motion is generated by distributing pulsating sources and dipoles on the immersed surface of the sphere, without introducing an inner flow model. The potential becomes the solution of an integral equation of Fredholm's second type. In the light of the vertical axisymmetry of the flow, surface integrals reduce to line integrals, which are approximated by summation of the products of the integrand and the length of segments along the contour. Following this computational scheme the diffraction potential and the radiation potential are determined from the same algorithm of solving a set of simultaneous linear equations. Upon knowing values of the potentials hydrodynamic forces such as added mass, hydrodynamic damping and wave exciting forces are evaluated by the integrating pressure over the immersed surface of the sphere. It is found in the case of finite water depth that the hydrodynamic forces are much different from the corresponding ones in deep water. Accordingly motion response of the sphere in a water of finite depth displays a particular behavior both in a amplitude and phase.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.1
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• pp.55-60
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• 1992

A study has been made on the hydrodynamic forces on and the motion response of a sliding block in a bay within the framework of linear potential theory. To simplify the problem, following assumptions are made : The configuration of the bay is a long channel with narrow width, constant depth and straight coastline. Incident waves are long compared to the depth. We applied matched asymptotic expansion techniques. The flued domain is subdivided into three regions ; ocean, bay entrance, bay regions. Boundary-vague problems are solved first in each region. Then unknown coefficients are determined by matching individual solutions at the intermediate region between two neighboring legions. It is found that the motion of the block is greatly amplified at the resonant frequencies, in particular at the quarter wavelength mode. We examined the mechanism of negative added mass, which results from the localized hydrodynamic resonance.

• 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.

• Journal of Navigation and Port Research
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• v.29 no.8 s.104
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• pp.673-678
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• 2005

In order to improve the safety of ship berthing and the efficiency of berth operation in the harbour, the berthing energy acting on a ship in berthing maneuver need to be estimated properly. The berthing energy is used as one of the criteria to determine the maximum permissible load q{ fender as well as important factors to establish the berthing speed and the required power of tug-boat for pilot and ship operator. Some problems of berthing energy are discussed on the basis of the hydrodynamic aspects. Then, series calculations of berthing energy are carried out considering the effect of water depth on added mass and the ship shape for container series from 1,600TEU to 12,000TEU.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.21 no.5
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• pp.410-418
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• 2009

Based on a linear potential theory, the boundary element method(BEM) is developed and applied to analyze the hydrodynamic forces and the motion responses of a floating body with a partially reflective sidewall. The hydrodynamic forces (added mass and damping coefficients) are dependent on not only the submergence of a floating body and the reflection of a sidewall, but also the gap between body and sidewall. In particular, the partial reflection of a sidewall plays an importance role in the motion responses of a floating body at resonant frequencies. It reduces the resonant peaks caused by resonance phenomenon due to the wave trapping in an enclosed fluid domain between body and sidewall. Developed predictive tools can be used to assess the motion performance of a floating body for various combinations of configuration of a floating body, wave heading, sidewall properties, and wave characteristics and applied to supply the basic informations for the harbour design considering the motion characteristics of a moored ship.

• Journal of the Society of Naval Architects of Korea
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• v.53 no.4
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• pp.315-328
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• 2016

Techniques for determinating hydrodynamic derivatives of underwater tow-fish using CFD(Computational Fluid Dynamics) are described in this paper. Main components of hydrodynamic derivatives are added mass, linear damping and non-linear damping coefficients. In this study, linear and non-linear damping coefficients for translational velocities are settled by CFD analysis. In order to analyze the underwater tow-fish, UlsanFOAM based on open-source CFD code, namely OpenFOAM, is employed. By simulating pitch and yaw angle variation of underwater tow-fish, 6DOF(Degree-of-Freedom) forces and moments are estimated at each attitudes. In order to determinate the hydrodynamic derivatives, curves(forces and moments vs attitude) for CFD results are fitted by least square methods. To demonstrate the applicability of the current approach, two different problems(impulsive side towing and straight towing) are simulated and all results are validated.

• Coupled systems mechanics
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• v.2 no.3
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• pp.231-253
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• 2013

The impact of spar-nacelle-blade coupling on edgewise dynamic responses of spar-type floating wind turbines (S-FOWT) is investigated in this paper. Currently, this coupling is not considered explicitly by researchers. First of all, a coupled model of edgewise vibration of the S-FOWT considering the aerodynamic properties of the blade, variable mass and stiffness per unit length, gravity, the interactions among the blades, nacelle, spar and mooring system, the hydrodynamic effects, the restoring moment and the buoyancy force is proposed. The aerodynamic loads are combined of a steady wind (including the wind shear) and turbulence. Each blade is modeled as a cantilever beam vibrating in its fundamental mode. The mooring cables are modeled using an extended quasi-static method. The hydrodynamic effects calculated by using Morison's equation and strip theory consist of added mass, fluid inertia and viscous drag forces. The random sea state is simulated by superimposing a number of linear regular waves. The model shows that the vibration of the blades, nacelle, tower, and spar are coupled in all degrees of freedom and in all inertial, dissipative and elastic components. An uncoupled model of the S-FOWT is then formulated in which the blades and the nacelle are not coupled with the spar vibration. A 5MW S-FOWT is analyzed by using the two proposed models. In the no-wave sea, the coupling is found to contribute to spar responses only. When the wave loading is considered, the coupling is significant for the responses of both the nacelle and the spar.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.96-100
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• 2008

In this paper, a experimental and theoretical study is carried out on the hydroelastic vibration for a rectangular bottom and side plate of tank. It is assumed that the tank wall is clamped along the plate edges. The fluid velocity potential is used for the simulation of fluid domain and to obtain the added mass due to plate vibration. It is assumed that the fluid is imcompressible and inviscid. Assumed mode method is utilized to the plate model and hydrodynamic force is obtained by the proposed approach. The coupled natural frequencies are obtained from the relationship between kinetic energies of a wall including fluid and the potential energy of the wall. The theoretical result is compared with the three-dimensional finite element method. In order to verify the result, modal test was carried out for bottom/side plate of tank model by using impact hammer. It was found the fundamental natural frequency of bottom plate is lower than that of side plate of tank and theoretical result was in good agreement with that of commercial three-dimensional finite element program.

• Proceedings of the KSME Conference
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• 2001.06d
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• pp.828-833
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• 2001

In this study, an analysis tool to assess the susceptibility of steam generator tubes due to the flow-induced vibration was developed. The fluid-elastic instability analysis of the U-tube bundle for CE-type steam generator was accomplished. The effective mass distribution along the U-tube was obtained to calculate the natural frequency and dynamic mode shape. Finally, stability ratios for selected tubes are obtained.