• Journal of KIISE:Computing Practices and Letters
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• v.9 no.6
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• pp.674-682
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• 2003

Ship autonomous navigation is designated as what computerizes mental faculties possessed of navigation experts, which are building navigation plans, grasping the situation, forecasting the fluctuation, and coping with the situation. An autonomous navigation system, which consists of several subsystems such as navigation system, a collision avoidance system, several data fusion systems, and a motion control system, is based on an intelligent control architecture for the sake of integrating the systems. The motion control system, which is one of the most essential system in autonomous navigation system, controls its propulsion and steering gears to move the ship satisfying its hydrodynamic characteristics. This paper is the study on the ship movement control system and its implementation which are totally developed and run on virtual-world system. Receiving the high-level control values such as a waypoint presented from the collision avoidance system, the motion control system generates them to low-level control values for propulsion and steering devices. In the paper, we develop a ship motion controller using Oldenburger's theory based on mathematical fundamentals, and simulate it with various scenarios in order to verify its performance.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.2
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• pp.150-162
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• 2010

Assessment of hydrodynamic performance of a ship hull has been focused on a model ship rather than a full-scale ship. In order to design the propeller of a ship, model-scale wake is often extended to full-scale based upon an empirical method or designer's experience, since wake measurement data for a full-scale ship is very rare. Recently modern CFD tools made some success in reproducing wake field of a model ship, which implicates that there are some possibilities of the accurate prediction of full-scale wakes. In this paper firstly the evaluation of model-scale wake obtained by Fluent package was performed. It was found that CFD calculation with the Reynolds-stress model (RSM) provided much better agreement with wake measurement in the towing tank than with the realizable k-$\varepsilon$ model (RKE). In the next full-scale wake was calculated using the same package to find out the difference between model and full-scale wakes. Three hull forms of KLNG, KCS, KVLCC2 having measurement data open for the public, were chosen for the comparison of resistance, form factor, and propeller plane wake between model ships and full-scale ships.

• Journal of Ocean Engineering and Technology
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• v.29 no.3
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• pp.270-282
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• 2015

A submerged body moving near the free surface needs to maintain its attitude and position to accomplish missions. It is necessary to validate the performance of a designed controller before a sea trial. The hydrodynamic coefficients of maneuvering are generally obtained by experiments or computational fluid dynamics, but these coefficients have uncertainty. Environmental loads such as the wave exciting force and suction force act on the submerged body when it moves near the free surface. Thus, a controller for the submerged body should be robust to parameter uncertainty and environmental loads. In this paper, the six-degree-of-freedom equations of motions for the submerged body are constructed. The suction force is calculated using the double Rankine body method. An adaptive control method based on an artificial neural network and proportional-integral-derivative control are used for the depth controller. Simulations are performed under various depth and speed conditions, and the results show the effectiveness of the designed controller.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.1
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• pp.1-7
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• 2013

The high-skewed and/or composite propellers of current interests to reduce the ship vibration and to increase the acoustic performance are likely to be exposed to the unexpected structural problems. One typical example is that the added mass effect on the propellers working in the non-uniform wake field reduces the natural frequency of the propeller leading to the resonance with the low-frequency excitation of the external forces. To avoid this resonance problem during the design stage, the technique of fluid-structure interaction has been developed, but the higher-order effect of the blade geometry deformation is not yet considered in evaluating the added mass effects. In this paper the fluid boundary-value problem is formulated by the potential-based panel method in the inviscid fluid region with the velocity inflow due to the body deformation, and the structural response of the solid body under the hydrodynamic loading is solved by applying the finite element method which implements the 20-node iso-parametric element model. The fluid-structure problem is solved iteratively. A basic fluid-sturcture interaction study is performed with the simple rectangular plates of thin thickness with various planform submerged in the water of infinite extent. The computations show good correlation with the experimental results of Linholm, et al. (1965).

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.3
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• pp.562-577
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• 2014

A reliable steady/transient hydro-elastic analysis is developed for flexible (composite) marine propeller blade design which deforms according to its environmental load (ship speed, revolution speed, wake distribution, etc.) Hydro-elastic analysis based on CFD and FEM has been widely used in the engineering field because of its accurate results however it takes large computation time to apply early propeller design stage. Therefore the analysis based on a boundary element method-Finite Element Method (BEM-FEM) Fluid-Structure Interaction (FSI) is introduced for computational efficiency and accuracy. The steady FSI analysis, and its application to reverse engineering, is designed for use regarding optimum geometry and ply stack design. A time domain two-way coupled transient FSI analysis is developed by considering the hydrodynamic damping ffects of added mass due to fluid around the propeller blade. The analysis makes possible to evaluate blade strength and also enable to do risk assessment by estimating the change in performance and the deformation depending on blade position in the ship's wake. To validate this hydro-elastic analysis methodology, published model test results of P5479 and P5475 are applied to verify the steady and the transient FSI analysis, respectively. As the results, the proposed steady and unsteady analysis methodology gives sufficient accuracy to apply flexible marine propeller design.

• Journal of Navigation and Port Research
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• v.34 no.5
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• pp.325-330
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• 2010

An open water rudder test was carried out to figure out the flow characteristics around a twin rudder at $Re=1.5{\times}10^4$. In the analysis, the unique characteristics of a twin rudder, which affects rudder forces, were explained. The analysis includes varying angles of attack from 10 to 30 degrees. In this paper, the measured results have been compared with each other to predict the performance characteristics of a twin rudder's 2-dimensional section by 2-frame grey level cross correlation PIV method. The length L=0.75C between upper and lower rudders could be defined as the critical length.

• Journal of the Society of Naval Architects of Korea
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• v.57 no.1
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• pp.35-44
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• 2020

Propeller cavitation extent, pressure fluctuation induced by cavitation, pressure distribution on propeller blade, total velocity distribution and nominal wake distribution for a MR Taker were computed in both conditions of model test and sea trial using a code STAR-CCM⁺. Then some of the results were compared with model test data at LCT and full-scale measurement (Ahn et al (2014); Kim et al (2014)] in order to confirm the availability of a numerical prediction method and to get the physical insight of local flow around a ship and propeller. The nominal wake distributions computed and measured by LDV velocimeter on the variation of on-coming velocity show the wake contraction characteristics proposed by Hoekstra (1974). The numerical prediction of propeller cavitation extent on a blade angular position and pressure fluctuation level on each location of pressure sensors are very similar with the experimental results.

• Tribology and Lubricants
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• v.34 no.6
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• pp.247-253
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• 2018

Temperature rise due to viscous shear of the lubricating oil generates hydrodynamic pressure, even if the lubricating surfaces are parallel. This effect, known as the thermal wedge effect, varies significantly with film-temperature boundary conditions. The bearing conducts a part of the heat generated; hence, the oil temperature varies with the thermal conductivity of the bearing. In this study, we analyze the effect of thermal conductivity on the thermohydrodynamic (THD) lubrication of parallel slider bearings. We numerically analyze the continuity equation, Navier-Stokes equation, energy equation including the temperature-viscosity and temperature-density relations for lubricants, and the heat conduction equation for bearing by creating a 2D model of the micro-bearing using the commercial computational fluid dynamics (CFD) code FLUENT. We then compare the variation in temperature, viscosity, and pressure distributions with the thermal conductivity. The results demonstrate that the thermal conductivity has a significant influence on THD lubrication characteristics of parallel slider bearings. The lower the thermal conductivity, the greater the pressure generation due to the thermal wedge effect resulting in a higher load-carrying capacity and smaller frictional force. The present results can function as the basic data for optimum bearing design; however, the applicability requires further studies on various operating conditions.

• Journal of Ocean Engineering and Technology
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• v.33 no.4
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• pp.313-321
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• 2019

The prediction of the hydrodynamic performance of a planing hull vessel is an important and challenging topic for computational fluid dynamic (CFD) applications to naval hydrodynamics. In this paper, the resistance and planing attitude analysis for a Fridsma hull, which is a prismatic planing hull, in still water are numerically studied using OpenFOAM. OpenFOAM is an open source code package based on C++ libraries and the finite volume method (FVM) for the discretization of the RANS equation. The volume of fluid method (VOF) is used to capture the water-air interface and the SST ${\kappa}-{\omega}$ model is used for the turbulence simulation. The overset mesh method is used to capture the large motion of the hull at higher speeds. Before the extensive analysis, uncertainty analyses using various time steps and grid sizes were performed for one ship speed case of Fn = 1.19. The results of the present study are compared with those of a model test, other CFD research, and Savitsky's empirical formula. The results of the present study, following the trend of other CFD results, slightly over predict the resistance and under predict the sinkage and, more significantly, the trim.

• Tribology and Lubricants
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• v.35 no.2
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• pp.123-131
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• 2019

This study characterizes the coastdown performances of two small electric motors supported on high-speed ball bearings (BBs) and gas foil bearings (GFBs), and it predicts their acceleration performances. The two motors have identical permanent magnetic rotors and mating stators. However, the shaft of the GFBs has a larger mass and polar/transverse moments of inertia than that of the BBs. Motor coastdown tests demonstrate that the rotor speed decreases linearly with the BBs and nonlinearly with the GFBs. A simple model for the BBs predicts a constant drag torque and linear decay of speed with time. The test data validate the model predictions. For the GFBs, the hydrodynamic lubrication model predictions reveal that the drag torque increases linearly with speed, and the speed decreases exponentially with time. The predictions agree very well with the test data in the speed range of 100-30 krpm. The boundary lubrication model predicts a constant drag torque and linear decay of speed with time. The predictions agree well with the test data below 15 krpm. Mixed lubrication occurs in the speed range of 30-15 krpm. Rotor acceleration performances are predicted based on the characteristics of deceleration performances. The GFBs require more time to reach 100,000 krpm than the BBs because of their larger shaft polar moment of inertia. However, predictions for the assumed identical polar moment of inertia reveal that the GFBs have a nearly identical acceleration performance to that of the BBs with a motor torque greater than $0.03N{\cdot}m$.