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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.
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.
Development of offshore drilling platform simulation for virtual onboard experience
박광필,함승호 대한조선학회 2022 International Journal of Naval Architecture and Oc Vol.14 No.1
As marine resources have been actively explored, a large number of offshore drilling platforms such as drillships and semi-submersible rigs have been built in many shipyards. The drilling system is the key feature that defines the characteristics of the platform. The operation of the drilling system is usually focused on the tubular handling, hoisting, and rotating systems which are directly handling drilling pipes and risers on the drill floor. Therefore, most of the training simulators have been developed only for controlling the drilling equipment. However, not only the drilling equipment handling on the drill floor, but also compensations systems such as heave compensation system and DPS (Dynamic Positioning System) to reduce the effect of the motion, ROV (Remotely Operated Vehicle) operation, well control including BOP (Blow-Out Preventer) should be integrated systematically because these systems on the offshore drilling platform are operated at the same time. Therefore, we propose the integrated offshore drilling platform simulation for virtual onboard experience which is composed of a virtual driller's cabin for handling drilling equipment, well control simulator to remove a kick, DPS simulator to control the motion of the platform, walk-through simulator to monitor the operation from the worker's viewpoint on the platform, and dynamic analyses of heave compensation system. All data such as the movement of the drilling equipment, platform position, driller's command, etc. are shared among systems in real-time. The proposed virtual offshore drilling platform can effectively show the various situations that occur during drilling operations.