• 한국해양공학회지
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• 제30권5호
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• pp.374-380
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• 2016

The large drift and angle of attack motion of an ROV (Remotely operated vehicle) cannot be modeled using the typical hydrodynamic coefficients of conventional straight running AUVs and specific slender bodies. In this paper, the ROV hull is divided into several simple-shaped components to model the hydrodynamic force and moment. The hydrodynamic force and moment acting on each component are modeled as the components of added mass force and drag using the known values for simple shapes such as a cylinder and flat plate. Since an ROV is operated under the water, the only environmental force considered is the current effect. The target ROV dealt with in this paper has six thrusters, and it is assumed that its maneuvering motion is determined using a thrust allocation algorithm. Tracking simulations are carried out on the ship’s surface near the stern, bow, and midship sections based on the modeling of the hydrodynamic force and current effect.

• Coupled systems mechanics
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• 제7권4호
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• pp.407-420
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• 2018

In solid-liquid two phase flow, the knowledge of how descending solid particles affected by the presence of downstream wall is important. This work studies at what interstitial distance the velocity of a vertically descending sphere is affected by a downstream wall as a consequence of wall-modified hydrodynamic forces through a validated dynamic model. This interstitial distance-the hydrodynamic coupling distance ${\delta}_c-is$ found to decay monotonically with the approach Stokes number St which compares the particle inertia to viscous drag characterized by the quasi-steady Stokes' drag. The scaling relation ${\delta}_c-St-1$ decays monotonically as literature below the value of St equal to 10. However, the faster diminishing rate is found above the threshold value from St=10-40. Furthermore, an empirical relation of ${\delta}_c-St$ shows dependence on the drop height which clearly indicates the non-negligible effect of unsteady hydrodynamic force components, namely the added mass force and the history force. Finally, we attempt a fitting relation which embedded the particle acceleration effect in the dependence of fitting constants on the diameter-scaled drop height.

• 수산해양기술연구
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• 제45권1호
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• pp.34-45
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• 2009

In this study, the hydrodynamic coefficients were measured using various nettings to analyze the change of drag coefficients and lift coefficients as a basic study for deriving hydrodynamic coefficients. The data on hydrodynamic force obtained from the flume tank tests were used to compare and analyze the hydrodynamic coefficients based on Reynolds number. Standardized hydrodynamic coefficients were then assumed during the analysis procedures. The hydrodynamic coefficients were measured using the 9 kinds of nettings in which had the same total projected area with different diameters and mesh-grouping ratio. These different netting systems : mesh-grouping ratio. The results of the test of nettings were as follows; First, the drag coefficients of nettings increased when the higher attack angles applied, and decreased with the increased flow speed and netting twine diameter. Second, the lift coefficients of nettings showed the increased values until the attack angle 30 degree, but decreased for the attack angle over 40 degree. Third, the hydrodynamic coefficients of netting decreased as the Reynolds number increased, and reach at slightly states in the highest numbers. Fourth, the hydrodynamic coefficients were derived from a functional formula considering attack angles and Reynolds number, and presented in the three dimensional space.

• Journal of Advanced Marine Engineering and Technology
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• 제27권1호
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• pp.49-56
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• 2003

The hydrodynamic interference between two circular cylinders in tandem and side by side arrangements was investigated by measuring of lift and drag on each cylinder. The time variations of interference lift and drag coefficients in each arrangement were observed at center-to-center pitch ratios of P/D=1.25 and 2.5 and Reynolds number of $Re=1.5\times10^4$. Average interference lift and drag coefficients were also observed at pitch ratios from P/D=1.25 to 2.5 and Reynolds number from $Re=1.5\times10^4$ to $1.5\times10^4$. The hydrodynamic interference between two circular cylinders differed with the shape of the arrangement and the pitch ratio, but the characteristics were revealed by measuring of lift and drag on each cylinder.

• International Journal of Ocean System Engineering
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• 제1권4호
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• pp.222-229
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• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• 한국항해항만학회지
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• 제35권3호
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• pp.197-204
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• 2011

회류수조에서의 대각도 정적(static) 모형실험을 통해 Manta형 무인잠수체에 작용하는 동유체력을 측정하였으며, 동유체력에 미치는 Reynolds수의 영향을 고찰하였다. 이를 위해 동유체력을 cross-flow drag과 양력(lift force)으로 성분 분석을 하였으며, 양력 성분에는 Reynolds수의 영향을 무시하고, cross-flow drag 성분에만 Reynolds수의 영향을 고려하였다. 그 후 이들 두 성분을 다시 합성함으로써 실물 무인잠수정에 작용하는 동유체력의 추정 기법을 제시하였다.

• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.42-52
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• 2006

In order to utilize hydrodynamic drag force on articulated robots moving in an underwater environment, an optimum motion planning procedure is proposed. The drag force acting on cylindrical underwater arms is modeled and a directional drag measure is defined as a quantitative measure of reaction force in a specific direction in a workspace. A repetitive trajectory planning method is formulated from the general point-to-point trajectory planning method. In order to globally optimize the parameters of repetitive trajectories under inequality constraints, a 2-level optimization scheme is proposed, which adopts the genetic algorithm (GA) as the 1st level optimization and sequential quadratic programming (SQP) as the 2nd level optimization. To verify the validity of the proposed method, optimization examples of periodic motion planning with the simple two-link planner robot are also presented in this paper.

• 천문학회보
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• 제35권1호
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• pp.72.2-72.2
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• 2010

We use three-dimensional hydrodynamic simulations to investigate nonlinear gravitational responses of gas to, and the resulting drag force on, a massive perturber moving on a circular orbit through a uniform gaseous medium. We assume that the background medium is non-rotating and adiabatic with index 5/3, and represent the perturber using a Plummer potential with softening radius a. This work extends our previous study where we showed that the drag force on a straight-line trajectory is proportional to a0.45 if the perturber is massive enough. This indicates that the orbital decay of supermassive black holes (SMBHs) near galaxy centers may take much longer than the prediction of the linear force formula applicable for low-mass perturbers. For the circular orbits are considered, however, we find that the nonlinear drag force becomes independent of a, but dependent instead on the orbital radius R as $\varpropto$ R0.5. This suggests not only that the choices of large values of a, for resolution issues, in recent numerical experiments for mergers of SMBH, are marginally acceptable, but also that the gaseous drag indeed provides an efficient mean for the orbtial decay of SMBHs.

• 한국해양공학회지
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• 제29권1호
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• pp.1-8
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• 2015

An analytical model of liquid sloshing is developed to consider the energy-loss effect through a partially submerged porous baffle in a horizontally oscillating rectangular tank. The nonlinear boundary condition at the porous baffle is derived to accurately capture both the added inertia effects and the energy-loss effects from an equivalent non-linear drag law. Using the eigenfunction expansion method, the horizontal hydrodynamic force (added mass, damping coefficient) on both the wall and baffle induced by the fluid motion is assessed for various combinations of porosity, submergence depth, and the tank's motion amplitude. It is found that a negative value for the added mass and a sharp peak in the damping curve occur near the resonant frequencies. In particular, the hydrodynamic force and free surface amplitude can be largely reduced by installing the proper porous baffle in a tank. The optimal porosity of a porous baffle is near P=0.1.

• Journal of Advanced Marine Engineering and Technology
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• 제39권6호
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• pp.614-619
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• 2015

본 연구는 자율무인잠수정의 운동성능을 예측하기 위한 동역학모델에 관한 연구이다. 이 모델은 선체의 동역학 상태변수들과 잠수정의 운동을 결정하는 힘들의 항으로 구성되어 있다. 힘에 영향을 주는 항은 유체정역학적 힘, 부가질량에 의한 힘, 유체동역학적 감쇠력, 그리고 양력과 항력으로 구성된다. 이 힘의 항들을 이론식과 유체동역학해석법에 의해 구하였다. 수중운동 시뮬레이션에는 PD제어기를 사용하였다. 또한 유체항력은 수조시험을 통해서 검증하였고, 무인잠수정의 운동성능은 인근 실해역에서의 경유점 추종시험을 통해서 부분적으로 검증하였다.