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Faster-than-real-time Hybrid Automotive Underwater Glider Simulation for Ocean Mapping
Woen-Sug Choi,Brian Bingham,Richard Camilli 해양환경안전학회 2022 해양환경안전학회지 Vol.28 No.3
The introduction of autonomous underwater gliders (AUGs) specifically addresses the reduction of operational costs that were previously prohibited with conventional autonomous underwater vehicles (AUVs) using a scaling-down design philosophy by utilizing the characteristics of autonomous drifters to far extend operation duration and coverage. Long-duration, wide-area missions raise the cost and complexity of in-water testing for novel approaches to autonomous mission planning. As a result, a simulator that supports the rapid design, development, and testing of autonomy solutions across a wide range using software-in-the-loop simulation at faster-than-real-time speeds becomes critical. This paper describes a faster-than-real-time AUG simulator that can support high-resolution bathymetry for a wide variety of ocean environments, including ocean currents, various sensors, and vehicle dynamics. On top of the de facto standard ROS-Gazebo framework and open-sourced underwater vehicle simulation packages, features specific to AUGs for ocean mapping are developed. For vehicle dynamics, the next-generation hybrid autonomous underwater gliders (Hybrid-AUGs) operate with both the buoyancy engine and the thrusters to improve navigation for bathymetry mappings, e.g., line trajectory, are is implemented since because it can also describe conventional AUGs without the thrusters. The simulation results are validated with experiments while operating at 120 times faster than the real-time.
Turbulence-induced noise of a submerged cylinder using a permeable FW-H method
Woen-Sug Choi,Yoseb Choi,Suk-Yoon Hong,Jee-Hun Song,권현웅,Chul-Min Jung 대한조선학회 2016 International Journal of Naval Architecture and Oc Vol.8 No.3
Among underwater noise sources around submerged bodies, turbulence-induced noise has not been well investigated because of the difficulty of predicting it. In computational aeroacoustics, a number of studies has been conducted using the Ffowcs WilliamseHawkings (FWeH) acoustic analogy without consideration of quadrupole source term due to the unacceptable calculation cost. In this paper, turbulence-induced noise is predicted, including that due to quadrupole sources, using a large eddy simulation (LES) turbulence model and a developed formulation of permeable FWeH method with an open source computational fluid dynamics (CFD) tool-kit. Noise around a circular cylinder is examined and the results of using the acoustic analogy method with and without quadrupole noise are compared, i.e. the FWeH method without quadrupole noise versus the permeable FWeH method that includes quadrupole sources. The usability of the permeable FWeH method for the prediction of turbulence-noise around submerged bodies is shown.
Turbulence-induced noise of a submerged cylinder using a permeable FW-H method
Choi, Woen-Sug,Choi, Yoseb,Hong, Suk-Yoon,Song, Jee-Hun,Kwon, Hyun-Wung,Jung, Chul-Min The Society of Naval Architects of Korea 2016 International Journal of Naval Architecture and Oc Vol.8 No.3
Among underwater noise sources around submerged bodies, turbulence-induced noise has not been well investigated because of the difficulty of predicting it. In computational aeroacoustics, a number of studies has been conducted using the Ffowcs Williamse-Hawkings (FW-H) acoustic analogy without consideration of quadrupole source term due to the unacceptable calculation cost. In this paper, turbulence-induced noise is predicted, including that due to quadrupole sources, using a large eddy simulation (LES) turbulence model and a developed formulation of permeable FW-H method with an open source computational fluid dynamics (CFD) tool-kit. Noise around a circular cylinder is examined and the results of using the acoustic analogy method with and without quadrupole noise are compared, i.e. the FW-H method without quadrupole noise versus the permeable FW-H method that includes quadrupole sources. The usability of the permeable FW-H method for the prediction of turbulence-noise around submerged bodies is shown.
Development of formulation Q1As method for quadrupole noise prediction around a submerged cylinder
Choi, Yo-Seb,Choi, Woen-Sug,Hong, Suk-Yoon,Song, Jee-Hun,Kwon, Hyun-Wung,Seol, Han-Shin,Jung, Chul-Min The Society of Naval Architects of Korea 2017 International Journal of Naval Architecture and Oc Vol.9 No.5
Recent research has shown that quadrupole noise has a significant influence on the overall characteristics of flow-induced noise and on the performance of underwater appendages such as sonar domes. However, advanced research generally uses the Ffowcs Williams-Hawkings analogy without considering the quadrupole source to reduce computational cost. In this study, flow-induced noise is predicted by using an LES turbulence model and a developed formulation, called the formulation Q1As method to properly take into account the quadrupole source. The noise around a circular cylinder in an underwater environment is examined for two cases with different velocities. The results from the method are compared to those obtained from the experiments and the permeable FW-H method. The results are in good agreement with the experimental data, with a difference of less than 1 dB, which indicates that the formulation Q1As method is suitable for use in predicting quadrupole noise around underwater appendages.
Permeable FW-H 방법을 이용한 원형 실린더 주변의 난류유동소음해석
최원석,홍석윤,송지훈,권현웅,정철민,Choi, Woen-Sug,Hong, Suk-Yoon,Song, Jee-Hun,Kwon, Hyun-Wung,Jung, Chul-Min 해양환경안전학회 2014 海洋環境安全學會誌 Vol.20 No.6
난류유동에 의한 소음은 계산비용의 관점에서 음향 상사법을 이용하여 전산유체 기법과 결합해 다양한 해석모델이 연구되고 있다. FW-H 음향상사법을 이용한 유동소음해석의 연구가 활발히 이루어지고 있으나, 기존 문헌들의 결과에서는 계산비용의 관점에서 난류유동에 의한 소음성분을 생략하고 있다. 그러나, 최근의 연구에서 유동소음특성에 있어 난류소음의 중요성이 밝혀진바 있다. 본 논문에서는 RANS 난류모델과 투과성 경계면을 이용한 Permeable FW-H 음향상사법을 이용한 난류유동소음해석에 대해 연구하였다. 2D실린더에 대하여 직접적으로 변동압력을 추출하는 직접법과 난류성분을 고려하지 않은 FW-H 상사법, 또 난류소음의 성분을 포함하는 Permeable FW-H 방법의 경우를 비교하였다. Permeable FW-H 방법을 통해 일반적으로 적용되는 FW-H 방법에서 해석 불가능한 난류에 의한 소음의 영향을 기존의 FW-H 방법과 동일한 계산비용으로 예측할 수 있었고, 적절한 투과성 경계면 설정을 통해 높은 정확도의 해석이 가능했다. Permeable FW-H 방법을 통한 난류유동해석 절차를 확립하였으며, 그 유용성을 확인했다. Varieties of research on turbulent-induced noise is conducted with combinations of acoustic analogy methods and computational fluid dynamic methods to analyze efficiently and accurately. Application of FW-H acoustic analogy without turbulent noise is the most popular method due to its calculation cost. In this paper, turbulent-induced noise is predicted using RANS turbulence model and permeable FW-H method. For simplicity, noise from 2D cylinder is examined using three different methods, direct method of RANS, FW-H method without turbulent noise and permeable FW-H method which can take into account of turbulent-induced noise. Turbulent noise was well predicted using permeable FW-H method with same computational cost of original FW-H method. Also, ability of permeable FW-H method to predict highly accurate turbulent-induced noise by applying adequate permeable surface is presented. The procedure to predict turbulent-induced noise using permeable FW-H is established and its usability is shown.
Study on Vortex-Induced Vibration Predictions for Ship Rudders
Won-Seok Jang,Suk-Yoon Hong,Jee-Hun Song,Hyun-Wung Kwon,Woen-Sug Choi 한국해양공학회 2020 韓國海洋工學會誌 Vol.34 No.5
As regulations concerning ship vibration and noise are becoming stricter, considerable attention is being drawn to prediction technologies for ship vibration and noise. In particular, the resonance and lock-in phenomena caused by vortex-induced vibration (VIV) have become considerably important with increases in the speed and the size of ships and ocean structures, which are known to cause structural problems. This study extends the fluid-structure interaction (FSI) analysis method to predict resonances and lock-in phenomena of high modes and VIV of ship rudders. Numerical stability is secured in underwater conditions by implementing added mass, added damping, and added stiffness by applying the potential theory to structural analysis. An expanded governing equation is developed by implementing displacements and twist angles of high modes. The lock-in velocity range and resonant frequencies of ship rudders obtained using the developed FSI method agree well with the experimental results and the analytic solution. A comparison with local vibration guidelines published by Lloyd’s Register shows that predictions of resonances and lock-in phenomena of high modes are necessary in the shipbuilding industry due to the possible risks like fatigue failure.