# Publication

International Journal
2015.08.25 13:13

# Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, Sol Ha, "Multibody Dynamic Analysis of a Heavy Load Suspended by a Floating Crane with Constraint-based Wire Rope", Ocean Engineering, Vol. 109, pp. 145-160, 2015.11.15

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Abstract In this study, we derived a Discrete Euler–Lagrange (DEL) equation to represent the motion of a multibody system, in which many bodies are connected physically by joints or wire ropes. By discretizing and re-formulating the traditional Euler–Lagrange equation, we obtained a discrete time integrator, called the Stömer–Verlet method. Similarly, we discretized the equations of constraints of joints and wire ropes by the midpoint rule. Then, we adapted regularization and stabilization methods, to overcome numerical instability and the stiffness problem. The DEL equation can be formulated automatically, by defining the equations of joint constraints and their derivatives. In addition, the stretching of the wire rope is mathematically modeled as constraints for stability. To apply the DEL equation to a floating vessel, hydrostatic and hydrodynamic forces are considered as external forces. We applied the DEL equation to a mass–spring system with the large spring coefficient. And we tested a spring pendulum modeled by a constraint-based wire rope. Despite the large spring coefficient, the DEL equation with the constraint-based wire rope shows relatively stable motion. We tested the automatic formulation by three-dimensional multiple pendulums. Finally, we simulated a floating crane and a heavy load connected by constraint-based wire rope, based on set of regular waves with different wave heights, directions and periods. 2015-11-15 Corresponding Author SCI 1.351

Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, Sol Ha, "Multibody Dynamic Analysis of a Heavy Load Suspended by a Floating Crane with Constraint-based Wire Rope", Ocean Engineering, Vol. 109, pp. 145-160, 2015.11.15

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List of Articles
번호 분류 제목 Publication Date
36 International Journal Nam-Kug Ku, Ara Jo, Sol Ha, Myung-Il Roh, Kyu-Yeul Lee, "Automatic Generation of Equations of Motion for Multibody System in Discrete Event Simulation Framework", Procedia Technology, Vol. 1, No. 1, pp. 55-64, 2012.02.01 2012-02-01
35 International Journal Nam-Kug Ku, Ji-Hyun Hwang, Joon-Chae Lee, Myung-Il Roh, Kyu-Yeul Lee, "Optimal Module Layout for a Generic Offshore LNG Liquefaction Process of LNG-FPSO", Ships and Offshore Structures, Vol. 9, No. 3, pp. 311-332, 2014.05.01 2014-05-01
34 International Journal Nam-Kug Ku, Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "A Tagline Proportional-Derivative Control Method for the Anti-Swing Motion of a Heavy Load Suspended by a Floating Crane in Waves", Journal of Engineering for the Maritime Environment, Vol. 227, No. 4, pp. 357-366, 2013.11.01 2013-11-01
33 International Journal Nam-Kug Ku, Myung-Il Roh, "Dynamic Response Simulation of an Offshore Wind Turbine Suspended by a Floating Crane", Ships and Offshore Structures, Vol. 10, No. 6, pp. 621-634, 2015.11.01 2015-11-01
32 International Journal Nam-Kug Ku, Sol Ha, Myung-Il Roh, "Crane Modeling and Simulation in Offshore Structure Building Industry", International Journal of Computer Theory and Engineering, Vol. 6, No. 3, pp. 278-284, 2014.06.01 2014-06-01
31 International Journal Nam-Kug Ku, Sol Ha, Myung-Il Roh, "Design of Controller for Mobile Robot in Welding Process of Shipbuilding Engineering", Journal of Computational Design and Engineering, Vol. 1, No. 4, pp. 243-255, 2014.10.01 2014-10-01
30 International Journal Sang-Hyun Lee, Myung-Il Roh, Min-Jae Oh, Ki-Su Kim, "Optimal Layout Design of an LNG FPSO: A Case Study", Journal of Offshore Mechanics and Arctic Engineering, Vol. 142, No. 041403, pp. 1-17, 2020.08.01 2020-08-01
29 International Journal Sang-Uk Lee, Myung-Il Roh, Ju-Hwan Cha, Kyu-Yeul Lee, "Ship Compartment Modeling Based On a Non-manifold Polyhedron Modeling Kernel", Advances In Engineering Software, Vol. 40, No. 5, pp. 378-388, 2009.05.01 2009-05-01
28 International Journal Seong-Hoon Kim, Myung-Il Roh, Ki-Su Kim, Min-Jae Oh, “Big Data Platform Based on Hadoop and Application to Weight Estimation of FPSO Topside”, Journal of Advanced Research in Ocean Engineering, Vol. 3, No. 1, pp. 32-40, 2017.03.01 2017-03-01
27 International Journal Seong-Hoon Kim, Myung-Il Roh, Min-Jae Oh, Sung-Woo Park, "Estimation of Ship Operational Efficiency from AIS Data Using Big Data Technology", IJNAOE, Vol. 12, pp. 440-453, 2020.05.21 2020-05-21
26 International Journal Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, "Simulation of Load Lifting with Equalizers Used in Shipyards", Automation in Construction, Vol. 61, pp. 98-111, 2016.02.01 2016-02-01
25 International Journal Seung-Ho Ham, Myung-Il Roh, "Dynamic Analysis of Block Offloading Using Self-propelled Modular Transporters", Automation in Construction, Vol. 96, pp. 411-432, 2018.12.01 2018-12-01
24 International Journal Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, "Collision Detection and Response of Multibody Systems Using a Position Difference Method and Non-Interpenetration Constraint in Shipbuilding Simulation", Ocean Engineering, Vol. 195, pp. 1-18, 2020.01.01 2020-01-01
23 International Journal Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, Jin-Wuk Hong, Hong-Rae Lee, "Development and Validation of a Simulation-based Safety Evaluation Program for a Mega Floating Crane", Advances In Engineering Software, Vol. 112, pp. 101-116, 2017.10.01 2017-10-01
» International Journal Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, Sol Ha, "Multibody Dynamic Analysis of a Heavy Load Suspended by a Floating Crane with Constraint-based Wire Rope", Ocean Engineering, Vol. 109, pp. 145-160, 2015.11.15 2015-11-15
21 International Journal Seung-Ho Ham, Myung-Il Roh, Ju-Sung Kim, "Numerical Analysis of Wreck Removal Based on Multibody System Dynamics", Journal of Marine Science and Technology, Vol. 23, No. 3, pp. 521-535, 2018.09.01 2018-09-01
20 International Journal Seung-Ho Ham, Myung-Il Roh, Jung-Woo Hong, “Dynamic Effect of a Flexible Riser in a Fully Connected Semisubmersible Drilling Rig Using the Absolute Nodal Coordinate Formulation”, Journal of Offshore Mechanics and Arctic Engineering, 2017.10.01 2017-10-01
19 International Journal Seung-Ho Ham, Myung-Il Roh, Luman Zhao, "Integrated Method of Analysis, Visualization, and Hardware for Ship Motion Simulation", Journal of Computational Design and Engineering, Vol. 5, No. 3, pp. 285-298, 2018.07.01 2018-07-01
18 International Journal Seung-Ho Ham, Myung-Il Roh, “Time-domain Structural Analysis During Block Turnover and Lifting Using 2D Flexible Multibody Dynamics”, Marine Structures, Vol. 75, pp. 102841.1-26, 2021.01.01 2021-01-01
17 International Journal Seung-Min Lee, Jong-Hyeok Lee, Myung-Il Roh, Ki-Su Kim, Seung-Ho Ham, Hye-Won Lee, "An Optimization Model of Tugboat Operation for Conveying a Large Surface Vessel", Journal of Computational Design and Engineering, Vol. 8, No. 2, 2021.04.01 2021-04-01
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