• Journal of the Society of Naval Architects of Korea
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• v.51 no.6
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• pp.539-547
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• 2014

Ship squat is a well known phenomenon, which means an additional sinkage and a change of trim when a ship sails in shallow water. As a series of ship squat study, a HPMM(Horizontal Planar Motion Mechanism) test of KVLCC2 model ship to measure a sinkage and a trim in shallow water was conducted. Additionally a CFD(Computational Fluid Dynamics) analysis was carried out to simulate fluid flows around the ship surface. A change in ship speed, drift angle at three depth conditions(H/T = 1.2, 1.5 & 2.0) is considered for comparing these results. As a result, an increase of the ship speed and the drift angle caused an increase in ship squat in EFD(Experimental Fluid Dynamics), and created a lower pressure on the ship bottom area in CFD. Lastly the sinkage results of KVLCC2 by EFD and CFD are compared to results by three empirical formulas. The tendency of sinkage by EFD and CFD is similar to the results of empirical formulas.

• Journal of Biosystems Engineering
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• v.8 no.2
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• pp.11-17
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• 1983

Stress distribution under a driving lugged wheel was obtained by photoelastic method. The distribution showed two distinct parts, one part is due to sinkage and other due to compression. Results of the study are summarized as follows. 1. The tangential reactions of sinkage as well as compressing parts were directly proportional to tangential load to the driving wheel, that's appeared to be thrust of the driving wheel. The normal reactions of both sinkage and compressing parts were directly proportional to the vertical load to the driving wheel, that's appeared to be resistance against wheel motion. 2. When the tangential load was constant, changing the vertical load did not show any significant thrust variation of the driving wheel. 3. Under the condition of this experiment, the ratio of vertical load to tangential load (T.L/V.L) must be greater than 1.0 in order for the wheel to roll.

• Journal of the korean Society of Automotive Engineers
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• v.13 no.4
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• pp.76-84
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• 1991

The off-road tractive performance of tracked vehicles can be evaluated in terms of soil thrust, motion resistance and drawbar pull. The ability to predict accurately ground pressure distribution under track is of importance since the vehicle sinkage and motion resistance are closely related to it. While the formulation of the method for predicting ground pressure distribution follows closely in spirit the ideas outlined for the terrain with linear pressure- sinkage relation case by Garber and Wong, the analysis of various terrain stiffness is magnified by numerical implementation procedure. The effects of soil parameters on tractive forces can be introduced through the terrain-track interaction such as pressure-sinkage and shearing characteristics. It is illustrated by determining the drawber pull-slip relation and corresponding ground pressure distribution for the terrains typically chosen and by comparing the results with the conventional ones based on normal ground pressure. The factorial experiment method is finally adopted for checking the sensitivity of the values of soil parameters on the drawbar pull.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.144-147
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• 2001

The planar tracked vehicle model used in this investigation consists of two kinematically decoupled subsystem, i.e., the chassis subsystem and the track subsystem. The chassis subsystem include the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints, In this paper, the recursive kinematic and dynamic formulation of the tracked vehicle is used to find the vertical forces and the distances of the certain track moved in the driving direction along the track. These distances and vertical forces obtained are used to calculate the sinkage of a terrain. The FEM is adopted to analyze the interaction between the tracked vehicle and terrain. The terrain is represented by a system of elements with specified constitutive relationships and considered as a piecewise linear elastic, plastic and isotropic material. When the tracked vehicle is moving with different speeds on the terrain, the elastic and plastic deformations and the maximum sinkage for the four different types of a isotropic soil are simulated.

• Coupled systems mechanics
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• v.7 no.2
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• pp.163-176
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• 2018

The ship hydrodynamics in static and dynamic states were investigated using 3-dimensional numerical simulations. The static case simulated a fixed ship, while the dynamic case considered a ship with free sinkage and trim using the mesh morphing technique. High speed was found to increase the wave elevation around the ship. Compared with the static case, the dynamic case seemed to generate higher waves near the bow and after the stern. The frictional resistance was found be to more dominant. However, the pressure resistance became gradually important with the increase of the ship speed. The trim and sinkage were also analyzed to characterize the ship hydrodynamics in the dynamic state.

• Bulletin of the Society of Naval Architects of Korea
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• v.8 no.1
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• pp.29-40
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• 1971

In order to study the problem on form factor of hull form, towing test of a full ship model was carried out for different initial trims under both full and half load conditions. The results were fully discussed on the mutual relations among initial trim, mean sinkage and trim change in run, and form factor. There exists optimum initial trim in regard to form factor. Mean sinkage and trim change in run can be expressed in a uninominal approximation in the form of $k_i{\cdot}{F_n}^{2.2}$. The coefficients of this approxmation are related linearly with the initial trim. Form factor changes according to Froude number. It is considered that the trim change in run is a main reason of the fact.

• Journal of Biosystems Engineering
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• v.25 no.5
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• pp.359-368
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• 2000

In this paper, mathematical model was developed for predicting the tractive performance of off-road wheeled vehicles operated on soft terrains. Based on the mathematical model, a computer simulation program(TPPMWV) was developed. The model takes into account main design parameters of wheeled vehicle, including radius and width of front and rear tire, weight of vehicle, wheelbase and driving type(4WD, 2WD). Soil characteristics, such as the peressure-sinkage and shearing characteristics and the response to repetitive loading and slip-sinkage effect, are also taken into consideration. The effectiveness of the developed model was verified by comparing the predicted drawbar pulls using TPPMWV with measured ones obtained by field tests for two different driving types of wheeled vehicle. As a results, the drawbar pulls predicted by the TPPMWV were well matched to the measured ones within the absolute errors of 3.916%(4WD) and 13.31%(2WD) for two different driving types, respectively.

• Journal of Industrial Technology
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• v.11
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• pp.65-72
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• 1991

In this paper, a control algorithm is discussed when the quadruped walking robot walks over the unknown soft ground. Firstly, it estimated the relationship between the foot force and the ground sinkage at the leg-placing phase. Secondly, the generated soil property is applied to the leg-supporting phase. If the attitude angle is changed by incorrect ground sinkage compensation, the control algorithm adjusts the attitude angle using simplified orientation orientation matrix.

• Journal of Biosystems Engineering
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• v.27 no.1
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• pp.1-10
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• 2002

This study was carried out to investigate experimentally the effect of three factors(dynamic load, inflation pressure and number of passes of tire) on soil compaction under the tire. The experiment were conducted with a 6.00R14 radial-ply tire for sandy loam soil using soil bin system. To evaluate the effect of three factors on soil compaction under the tire, the sinkage. density and volume of soil under the tire were measured fur the three levels of dynamic load(1.17kN, 2.35kN and 3.53kN), for the three levels of tire inflation pressure(103.42kPa, 206.84kPa and 413.67kPa), and for three different number of passes(1, 3 and 5). The results of this study can be summarized as follows : 1. As dynamic load, inflation pressure and number of passes of the tire increased, soil sinkage and density increased. and volume of soil decreased. Thus increase in dynamic load, inflation pressure and number of passes of the tire would increase soil compaction. 2. The effect of tire inflation pressure on sinkage. density and volume of soil under the tire was relatively less than that of the dynamic load. Therefore, it was concluded that dynamic load was more important factor affecting soil compaction in comparison to the inflation pressure of tire. 3. The effect of three different factors on sinkage, density and volume of soil decreased as the soil depth increase. Consequently, it was fecund that soil compaction at a shallow depth in soil was larger than that at deep place in soil.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.140-150
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• 2002

The planar tracked vehicle model used in this investigation consists of two kinematically decoupled subsystems, i.e., the chassis subsystem and the track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. In this study, the recursive kinematic and dynamic formulation of the tracked vehicle is used to find the vertical terce and the distance of an arbitrary track moved in the driving direction along the track. These distances and vertical forces obtained are used to get the deformation and sinkage of a terrain. The FEM(Finite Element Method) is adopted to analyze the interaction between tracked vehicle and terrain. The terrain is represented by a system of elements wish specified constitutive relationships and considered as a piecewise linear elastic, plastic and isotropic material. When the tracked vehicle is moving with different speeds on the terrain, the elastic and plastic deformations and the maximum sinkage for the four different types of isotropic soils are simulated.