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조선 해양 분야 적용을 위한 해석, 하드웨어 및 가시화 기반의 실시간 시뮬레이션 방법
함승호(Seung-Ho Ham),노명일(Myung-Il Roh),이성(Xing Li),조로만(Luman Zhao) (사)한국CDE학회 2015 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2015 No.하계
Recently, interests of ship and offshore simulators are increased for the purpose of design, production, training, engineering, safety assessment, and so on. Basically, three different kinds of technologies are required to develop such simulators in the field of naval architecture and ocean engineering; physics-based analysis, hardware, and virtual reality. In this study, a real-time simulation method based on analysis, hardware, and visualization is proposed. For this, an integrated simulation framework is proposed. To check the applicability of the proposed method, it is applied to motion analysis of a drillship. The result shows that the proposed method can be used for various purposed in the field of naval architecture and ocean engineering.
다목적 조선 해양 전용 시뮬레이터 개발을 위한 통합 시뮬레이션 방법
함승호(Seung-Ho Ham),노명일(Myung-Il Roh),이종혁(Jong-Hyeok Lee) (사)한국CDE학회 2020 한국CDE학회 논문집 Vol.25 No.2
Recently, various training simulators based on virtual reality (VR) have been utilized for education, training, and research in ships and offshore structures. These simulators are not easy to be modified for the other uses once they have been installed. Some of the existing simulators cannot perform collaboration simulations in which multiple workers participate simultaneously. This study proposes the five components for multi-purpose ship and ocean simulators based on the requirements to overcome such limitations. The first component is the environment, including display such as a 360-degree surround screen and HMDs (Head-Mounted Displays), and a motion generator such as a 6DOF motion platform, a motion chair, and a treadmill. The second is the controller such as button, lever, joystick and wand which can capture the motion of the hand. The third is a background software to calculate the motion or to implement the control logic. The fourth is virtual reality, including realistic contents. The last one is integrated technology through the network, which can incorporate the components at once. We construct OSC (Ocean Simulation Center) based on five components listed above. Finally, the block turn-over operation, offshore module erection operation, and walkthrough on FPSO (Floating, Production, Storage, and Offloading unit) are implemented with given components in OCS.
다물체계 동역학의 위상 관계 모델링 기법을 적용한 해상 크레인의 리프팅 시뮬레이션
함승호(Seung-Ho Ham),차주환(Ju-Hwan Cha),이규열(Kyu-Yeul Lee) (사)한국CDE학회 2009 한국CDE학회 논문집 Vol.14 No.4
We can save a lot of efforts and time to perform various kinds of multibody system dynamics simulations if the equations of motion of the multibody system can be formulated automatically. In general, the equations of motion are formulated based on Newton’s 2<SUP>nd</SUP> law. And they can be transformed into the equations composed of independent variables by using velocity transformation matrix. In this paper the velocity transformation matrix is derived based on a topological modeling approach which considers the topology and the joint property of the multibody system. This approach is, then, used to formulate the equations of motion automatically and to implement a multibody system dynamics simulation program. To verify the efficiency and convenience of the program, it is applied to the lifting simulation of a floating crane.
조선소 생산 작업 지원을 위한 VR 기반 협업 시뮬레이션에 관한 연구
이성(Xing Li),함승호(Seung-Ho Ham),조로만(Luman Zhao),하솔(Sol Ha),노명일(Myung-Il Roh) (사)한국CDE학회 2015 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2015 No.동계
In shipbuilding production, several types of cranes are simultaneously used to effectively handle a building block which is more than hundred tons. For this, one or more operators operate each crane, and the cooperation among the operators is very important. In the previous studies, the maximum tension of wire ropes of the cranes and motion of the block were analyzed computationally during lifting operation based on fixed scenarios with simulation. This couldn’t reflect the interaction during the operation which can cause unexpected results. Therefore, a collaborative simulation system for production in shipyard was developed in this study. The developed system is comprised of three parts. The first part is an input device which generates signals such as hoisting up and down of the wire ropes of the cranes. The second part is a dynamics engine which receives the signals from several operators and reflects them as a simulation scenario. The last part is a display device which is used to share simulation results between the workers and visualizes the simulation results in multi-views on the network. Finally, the developed system was applied to a block erection process which is operated by three crane operators and one commander. As a result, it is shown that the developed system can be used to simulate or train the collaborative work of the operators in shipyard.
해상크레인으로 인양하는 중량물의 Tagline 제어를 위한 다물체계 동역학 시뮬레이션 및 실험
구남국,이규열,권정한,차주환,함승호,하솔,박광필,Ku, Nam-Kug,Lee, Kyu-Yuel,Kwon, Jung-Han,Cha, Ju-Hwan,Ham, Seung-Ho,Ha, Sol,Park, Kwang-Phil 한국시뮬레이션학회 2010 한국시뮬레이션학회 논문지 Vol.19 No.1
This paper describes tagline PD control for reduction of motion for the heavy cargo(load) suspended by a floating crane. The equations of motion are set up considering the 6-degree-of-freedom floating crane and the 6-degree-of-freedom load based on multi-body system dynamics. The tagline mechanism is applied to floating crane to control motion of the heavy cargo(load). The winch, mounted on the deck of floating crane, is used to control the tension of tagline. To generate control force, PD control algorithm is applied. Numerical simulation and experiment is executed to verify the tagline control mechanism. The numerical simulation and experiment shows that the tagline control mechanism reduces the motion of the load suspended by a floating crane.