• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.221-224
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• 2003

This study was carried out to develope a basic form of planning hull type fishing boat. G/T 10ton class is selected as object hull form, and hull form is designed in Chosun University. A series of test results of LCG variations for 5 different LCG points are presented in this paper. The test was performed in Davidson Laboratory, and the scope of tests include resistance, trim and sinkage.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.192-197
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• 2003

Initial hull form of 3 G/T and $20{\sim}25$ knots class coastal leisure boat is newly developed. The performances, which are resistance, trim and sinkage, are investigated at high speed circulating water channel (CWC). Wave patterns are observed together to make clear the relation between the resistance performance and the wave characteristics.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.3
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• pp.478-489
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• 2015

In the present study, a hydrodynamic hull-form optimization algorithm for a container ship was presented in terms of the minimum wave-making resistance. Bell-shaped modification functions were developed to modify the original hull-form and a sequential quadratic programming algorithm was used as an optimizer. The wave-making resistance as an objective function was obtained by the Rankine source panel method in which non-linear free surface conditions and the trim and sinkage of the ship were fully taken into account. Numerical computation was performed to investigate the validity and effectiveness of the proposed hull-form modification algorithm for the container carrier. The computational results were validated by comparing them with the experimental data.

• Journal of Ocean Engineering and Technology
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• v.28 no.2
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• pp.152-159
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• 2014

KRISO(Korea Research Institute of Ships & Ocean Engineering) designed and manufactured a pilot mining robot called "MineRo" in 2012. MineRo is composed of four track modules. In general, much time and money are needed for deep-sea tests. Therefore, a numerical analysis to predict the dynamic behaviors has to be performed before a deep-sea test. In the numerical analysis, the information about the mining robot and soil properties are the most important factors to analyze the driving performance and dynamic response of MineRo. A terra-mechanics model of extremely cohesive soft soil is implemented in the form of the relationships between the normal pressure and sinkage, and between the shear stress and shear displacement. It is possible to acquire information about MineRo from the CAD model in the design phase. The Wong model is applied to the terra-mechanics model. This model is necessary to acquire many soil coefficients for a numerical analysis. However, in soil testing, the amount of soil property data obtained is limited. Moreover, it is difficult to analyze all of the cases for the many soil coefficients. In this paper, the dynamic behaviors of MineRo are analyzed according to the driving velocity, steering ratio, and variable extremely cohesive soft soil properties using a table of orthogonal arrays. The dynamic responses of MineRo are the turning radius, sinkage, and slip ratio. The relationships between the dynamic responses and variable soil properties are derived for MineRo.

• Journal of the Society of Naval Architects of Korea
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• v.37 no.3
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• pp.21-26
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• 2000

For coastal service ships, the water depth is a very important parameter in the design stage of the hull form that has an influence on the restriction of the speed and draft of ships. In this study, the water depth is important for ship design. In this research, the change of total resistance, trim and sinkage due to the variation of water depth are measured by using on equipment for shallow water condition. For the basic research step about the shallow water effect, the effects on Series60($C_B=0.6$) hull form are experimented. To compare with existing experiment results, the test conditions are same with those. The water depth conditions are 10, 15, 20, 25% of LPP of the model ship, respectively.

• Journal of Ocean Engineering and Technology
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• v.17 no.5 s.54
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• pp.88-94
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• 2003

A series of tests of 5 model ships, selected from a data survey of 10 Gross Tonnage actual fishing boats, were performed in two circulating water channels (Chosun University in Korea and WJFEL in Japan), in order to develop the basic hull form of a 25 knots-class fishing boat. Resistance tests, trim and sinkage measurements and wave pattern observations etc., were included in each I1wdel test, and the model test results were compared and analyzed. The result was as follows: P-4 hull form ship changed into Deep V type bow is the best hull form with good performance, especially with regard to ship's resistance efficiency.

• Journal of Biosystems Engineering
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• v.31 no.2 s.115
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• pp.81-87
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• 2006

In this study, a mathematical model was suggested to predict the maximum steering torque of a tractor on off-road. The model took into account the characteristics of soil, including the pressure-sinkage and the shearing characteristics as well as the primary design parameters of steering system of the tractor. The efficiency of the developed model was verified via comparison of the maximum steering torque predicted using the model with those measured from steering torque test. The results showed that the predicted maximum steering torques were in good agreement with the measured ones from the steering test on soft soil in which tractor is generally operated. Thus, we concluded that the model developed in this study could be used for prediction of maximum steering torque of a tractor.

• Bulletin of the Society of Naval Architects of Korea
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• v.24 no.3
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• pp.17-24
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• 1987

The present paper describes the results of the cooperative experimental study organized by the Resistance Committee of the Korea Towing Tank Conference, which aims to improve model testing technique and accuracy and to self-evaluate their own capabilities. A Series 60, $C_b=0.60$ model was tested at the towing tanks of Korea Institute of Machinery & Metals, Hyundai Maritime Research Institute, Seoul National University, and Inha University. Results for total resistance, wave pattern analysis, wave pattern analysis, wave profile, trim & sinkage and wake measure ments are presented.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.58-69
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• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

• Agricultural and Biosystems Engineering
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• v.4 no.1
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• pp.34-38
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• 2003

A mathematical model was developed for estimating the mechanical interrelation between characteristics of soil and main design factors of a tracked vehicle, and predicting the tractive performance of the tracked vehicle. Based on the mathematical model, a computer simulation program (TPPMTV) was developed in the study. The model considered the continuous change in tension for the whole track of a tracked vehicle, the analysis of shape and tension of the track segment between sprocket and first roadwheel, and the side thrust on both sides of grouser by the active earth pressure theory in predicting the tractive performance of a tracked vehicle. Also, the model contained not only sinkage depth of the track but the pressure distribution under the track in analyzing the side thrust. The effectiveness of the developed model was verified by performing the draw bar pull tests with a tracked vehicle reconstructed for test in loam soil with moisture content of 18.92％. The predicted drawbar pulls by the model were well matched to the measured ones. Such results implied that the model developed in the study could estimate the drawbar pulls well at various soil conditions, and would be very useful as a simulation tool for designing a tracked vehicle and predicting its tractive performance.