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Abstract Several approaches have been applied to detect collision and to calculate appropriate responses in the simulation of multibody systems. If multiple bodies can be represented by continuously differentiable functions, we can use non-interpenetration conditions for collision analysis. Once their boundaries are represented mathematically by generalized coordinates, we can re-formulate the equations of motion including signed distance functions between two collision bodies, which are called non-interpenetration constraints. The non-interpenetration constraints are simply working only when the boundaries of the two bodies are in contact or interpenetrate each other. In this study, the equations of motion of multibody systems are presented for two types of collision: One is collision between the plane and vertices, the other is collision between the plane and sphere. Moreover, fictional constraints are also derived by using polyhedral approximation of friction cone. Finally, it is successfully applied to verify the motion response of the bodies after collision. Furthermore, it is applied to the lifting-off simulation which is to lift subsea equipment on the deck of an offshore support vessel (OSV) by using its knuckle boom crane
Publication Date 2017-01-21

Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, "Collision Analysis of the Subsea Equipment on the Offshore Supply Vessel Using Non-Interpenetration Constraints", International Conference on Mechanical Design and Engineering, HongKong, China, pp. 1-2, 2017.01.20-22


List of Articles
번호 분류 제목 Publication Date
80 International Conference Kyu-Yeul Lee, Myung-Il Roh, Ju-Hwan Cha, "Development of a Non-linear Optimization Program and Its Applications to Shipbuilding", Proceedings of the 1st Mongolia-Korea Joint Workshop on CAD/CAM, Ulaanbaatar, Mongolia, pp. 1-5, 2007.07.08-10 file 2007-07-08
79 International Conference Kyu-Yeul Lee, Myung-Il Roh, Sang-Uk Lee, Joong-Hyun Rhim, Seong-Chan Kang, Jong-Hyun Kim, Jeong-Youl Lee, "Development of a Hull Structural CAD System for an Initial Design Stage", Proceedings of PRADS 2004, Germany, pp. 98-105, 2004.09.12-17 file 2004-09-12
78 International Conference Kyu-Yeul Lee, Sang-Uk Lee, Doo-Yeoun Cho, Myung-Il Roh, Seong-Chan Kang, Jung-Woo Seo, "An Innovative Compartment Modeling and Ship Calculation System", Proceedings of IMDC(International Marine Design Conference) 2003, Athens, Greece, 2003.05.05-08 file 2003-05-07
77 International Conference Kyu-Yeul Lee, Seon-Ho Cho, Myung-Il Roh, "An Efficient Global-Local Hybrid Optimization Method Using Design Sensitivity Analysis", Proceedings of OptiCon 2000, Newport Beach, USA, pp. 1-13, 2000.10.26-27 file 2000-10-26
76 International Conference Luman Zhao, Myung-Il Roh, Hye-Won Lee, "Control Design for an Unmanned Surface Vessel Based on Hardware-In-the-Loop Simulation", Proceedings of SUTTC(The Society for Underwater Technology Technical Conference) 2017, Haikou, China, 2017.11.23-24 file 2017-11-23
75 International Conference Luman Zhao, Myung-Il Roh, Hye-Won Lee, Do-Hyun Chun, Sung-Jun Lee, "A Collision Avoidance Method of Multi-ships Based on Deep Reinforcement Learning Considering COLREGs," Proceedings of ICCAS 2019, Rotterdam, Netherlands, pp. 85-88, 2019.09.24-26 file 2019-09-24
74 International Conference Luman Zhao, Myung-Il Roh, Seung-Ho Ham, "Anti-sway Control of the Crane on an Offshore Support Vessel Based on the Hardware-In-the-Loop Simulation", Proceedings of ISOPE 2017, San Francisco, USA, pp. 651-654, 2017.06.25-30 file 2017-06-26
73 International Conference Luman Zhao, Myung-Il Roh, Seung-Ho Ham, "Hardware-In-the-Loop Simulation for a Heave Compensator of an Offshore Support Vessel", Proceedings of OMAE 2016, Busan, Korea, pp. 1-5, 2016.06.19-24 file 2016-06-20
72 International Conference Luman Zhao, Myung-Il Roh, Seung-Ho Ham, "Hardware-In-the-Loop Simulation for the Design and Testing of an Active Compensation System on an Offshore Supply Vessel", Proceedings of SUTTC 2016, Beijing, China, 2016.09.26-30 file 2016-09-29
71 International Conference Min-Chul Kong, Myung-Il Roh, In-Chang Yeo, In-Su Han, Dongki Min, Dongguen Jeong, "Methods for Graph Conversion and Pattern Recognition for P&IDs", Proceedings of IMDC 2024, Amsterdam, Netherland, 2024.06.02-06 2024-06-02
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