• Computational Structural Engineering
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• v.22 no.4
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• pp.89-94
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• 2009

최근에 선박의 도킹해석은 3차원 전선 구조 해석을 통해 수행되어 왔으나 도킹해석 모델을 구성하는데 많은 시간과 노력이 필요하였다. 전선구조해석 모벨을 만들기 위해 필요한 선박구조 도면이 완성되기 전인 초기 설계단계에서 도킹시 반목배치를 조기에 확정하고, 구조 안정성을 확보하기 위한 노력이 요구되어 왔기 때문에 간이화된 도킹 해석 프로그램을 개발하게 되었다. 2차원 격자구조를 이용한 도킹해석기법을 통해 얻은 반목에서의 지지력이 3차원 전선해석모델을 사용하여 얻은 반목에서의 반력 결과와 비교해 타당한 결과를 보여 주고 있음을 확인하였다. 간이화된 도킹용 해석 프로그램을 개발하였으며, 다음과 같은 기능을 갖추어 사용자가 쉽게 격자 구조 모델을 생생하고 해석을 수행할 수 있도록 구성하였다. 향후 각 요소의 단면 특성치를 자동으로 산정하는 기능이 추가되어야 한다. 그리고 부유식 도크(Floating dock)에서의 도킹해석은 본 개발의 대상이 된 건식 도크(Dry dock)에서의 경우와 다른 고려사항이 추가되어야 하기 때문에 향후 추가적인 연구와 개발을 통해 새로운 기능으로 포함될 것이다.

• Journal of the Society of Naval Architects of Korea
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• v.45 no.6
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• pp.710-718
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• 2008

This paper presents a simple and fast approach to plan the arrangement of supports and to do a ship docking analysis. The unpredicted structural damages often happen from a docking works as the size of ships are getting larger and larger. In docking a ship, excessive reaction forces from supports are primary causes of the structural damage. The grillage analysis method is employed to simply calculate only the reaction forces at supports. The grillage modeling strategies are proposed to improve the accuracy. In this paper, the results obtained by the proposed approach are compared with those of the current whole-ship FEA for typical types of ships. Comparison shows that the results from the present grillage approaches are reasonably in a good agreement with the 3-D full F.E one. Finally, an integrated program developed for the ship docking analysis is described.

• Journal of Advanced Navigation Technology
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• v.23 no.2
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• pp.125-133
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• 2019

In this paper, a new study was performed on the docking of AUV to docking station using light and light sensor system under the water. For this, a guiding system for AUV loading sensor system composed of lense, light sensor, signal processor, and processor and docking system with LED are proposed. An analysis on light sensor system and light-collecting lense to obtain accurate relative angle and measurement accuracy was performed. To prove this, the system was built and a basic experiment was performed. Finally, the feasibility of the developed docking system was verified the test in the water tank.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.11
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• pp.1072-1078
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• 2008

An adaptive control algorithm for spacecraft rendezvous and docking in a Keplerian orbit is presented. The equations of relative motion of two spacecrafts expressed in a local-vertical-local-horizontal rectangular frame are converted to a general Hamiltonian form, then an adaptive control method developed for the uncertain Hamiltonian system is applied to the rendezvous and docking problem. A smooth projection algorithm is applied to keep the parameter estimates inside a singularity-free region, and a numerical example shows that the developed controller successfully deals with the unknown mass of the chaser spacecraft.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.10
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• pp.180-189
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• 2014

For a autonomous parking of unmanned car, this paper proposes a posture regulation algorithm of a car-like mobile robot, which is supported by a docking formation and a feedback linearization control law. Unlike the previous researches based on a path-planning and optimization algorithms, the autonomous car implemented the proposed autonomous parking algorithm can be parked without much computational burden and a high performance processor. Stability of the proposed docking formation and feedback linearization control law are analyzed and performance of the proposed algorithm is shown by implementing to the simulations with six scenarios and an actual car in the experiment place.

• Special Issue of the Society of Naval Architects of Korea
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• 2008.09a
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• pp.10-15
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• 2008

The proper docking block arrangement, loading condition and structural reinforcement are required to ensure structural safety of ship, when she is in re-docking and launching for inspection or repair. The large reaction force due to narrow bottom tangent area, heavy weight and ballast loading are occurred at aft body and fore body of ship. Especially, in case of LNGC, the strength evaluation is necessary for cargo hold areas including mid-body because tank hydro test is performed in dry-dock. The analysis results and experiences to confirm structural safety for docking of conventional LNGC$(138K{\sim}151.7K)$ are introduced in this paper.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.3
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• pp.273-279
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• 2012

The concept of the Mobile Harbor had been made recently as a kind of feeder vehicle to transfer a certain amount of container boxes (i.e. 250 TEU at a time) from main ocean container vessels over 5,000 TEU capacity to the container terminal on land. In a harbor a short distance apart from the land, the container loading/unloading operation has to be performed on the main deck of the Mobile Harbor using the container cranes in the state of side-by-side mooring with protection of fenders and robot arms in the gap. Even under the ocean condition of the sea state class 2 or 3, the operation has to be confirmed to be safely performed. In this situation, the floating bodies considering the multiple-body interaction effect also has to be examined whether they might behave safely or not. Especially, this study focuses on the dynamic behavior of the Mobile harbor when a container box is hanged on the crane and the impact load due to the slewing motion is imposed in a certain sea state. The motion response should be controlled within the motion level to assure the safe operation.