• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.351-356
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• 2022

Among the path planning methods used to generate the ship's path, the graph search-based method is widely used because it has the advantage of its completeness, optimality. In order to apply the graph-based search method to the berthing path plan, the deviation from the path must be minimized. Path following suitability should be considered essential, since path deviation during berthing can lead to collisions with berthing facilities. However, existing studies of graph search-based berthing path planning are dangerous for application to real-world navigation environments because they produce results with a course change just before berthing. Therefore, in this paper, we develop a cost function suitable for path following, and propose a 3D A* algorithm that applies it. In addition, in order to evaluate the suitability for the actual operating environment, the results of the path generation of the algorithm are compared with the trajectory of the data collected by manned operations.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.187-187
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• 2022

최근 선박의 자율운항기술이 활발하게 연구되어 오면서, 경로추종 제어 및 충돌회피 등의 자율운항 기술 연구가 많이 진행되고 있으며 그에 따른 시뮬레이션과 실해역 시험 등도 활발하게 수행되고 있다. 이러한 자율운항기술 중 본 연구에서는 AUV(Autonomous Underwater Vehicle) 진회수 시 모함에 활용되며 쌍동선형을 갖는 쌍동형 무인수상선을 대상으로 경로추종 제어에 대한 실해역 시험을 수행한 내용을 소개한다. 대상선인 쌍동형 무인수상선은 배수량이 약 10ton, 최대속도 10knots를 기준으로 설계된 선형이며 Sail drive 타입의 쌍축 추진기를 탑재하고 있으며 Fig. 1에 나타내었다. 실해역 시험은 경기도 화성시에 위치한 제부마리나 전면 해역에서 여러 속도에 대해 Fig. 2의 경로(빨간색)를 활용하여 수행되었다. 해당 경로는 변침각이 45도까지 이루어져 있다. 경로추종 제어 알고리즘은 목표경유점을 향하기 위해 선수각을 제어하는 부분과 목표속도로 추진하기 위해 속도를 제어하는 부분으로 나뉘어져 있다. 선수각 제어 시 경로와 무인선과의 위치 오차를 줄이는 방향으로 선수각이 향할 수 있도록 알고리즘이 설계되었다. 속도 제어의 경우 RPM 별로 실제 속도를 계측하여 데이터화 한 후, 실제 속도가 명령 속도와 다를 경우 RPM을 가감하여 명령 속도로 추진하기 위해 제어할 수 있도록 하였다. Fig. 2에서 파란색 선은 설계한 알고리즘을 활용하여 경로추종 제어를 한 결과의 궤적을 보여준다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.11a
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• pp.169-174
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• 2004

To design ship channel is one of important factors for planning and developing a port. In most case, the core factors for designing ship channel are the layout and width of dvnnel provided the net underkeel clearance is assessed as safety. In this study, Variable Bumper Area(VBA) model is applied to design and assess ship channel. This model reflects ship's principle dimension, ship domain theory, ship speed, conning officer's ship handling skill and experience and all external forces which cause leeway, set and drift and the change of ship maneuvering characteristics. Full Mission Ship Handling Simulator is used to analyze ship dynamic data according to conning officer's ship control, external forces, etc. This model uses Domain-index for assessing the efficiency and safety of the channel. The proposed model is applied to Ulsan new port plan which has a channel width of 1.5 times the length if the largest vessel, a radius if 5 times the length of the largest vessel in a curve of 57 degree centerline angle and SBM facility adjacent to the lateral edge if channel. The result of this study shows tint the width and radius of channel curve are suitable for the target ship but the difficulty of ship handling is caused by the large course change and SBM located in the vicinity if channel.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.1
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• pp.40-46
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• 2015

Arctic Ocean has rapidly melted due to global warming, by this, commercial ship has been operating through the area. Reason to develop the Northern Sea Route(NSR) even in extreme conditions, the distance than the existing route is shortened, which bring economic benefits. For these reason, the International Maritime Organization(IMO) established safety standards of the Arctic navigation(Polar Code) in order to ensure safe operation in the Northern Sea Route. In this study, it has been described ice types and safety standards of Artic vessel what officer needs to know for safe navigation on the Arctic Ocean. And It was verified by simulation the theoretical knowledge for the safe operation of the Arctic vessel. As a result, it was found that ship needs to reduce speed and analyze ice for safe operation before enter into the ice, it is necessary to enter at right angle to break ice safety and efficiently. Also according to the result of the simulation of navigation entering in ice channel(Lead), it was difficult to change course, it is believed that require emergency training for passing Vessel. In the future, It shall be analyzed precisely under various conditions of scenario.

• Journal of the Korean Society of Marine Environment & Safety
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• v.16 no.4
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• pp.393-399
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• 2010

Recently, a vessel's maneuvering performance is considered to be an important subject as marine pollution from the ships that stranded on a rock becomes more severe. So, IMO(International maritime organization) has adopted Resolution MSC.l37 to enhance international standards of ship's maneuverability. There's more than one way to improve ship's maneuverability. This research focused on improving ship's maneuverability by high-lift rudder. To predict the maneuverability, the numerical simulation model was used. The evaluation of maneuverability was carried out by turning test and zig-zag test. The results obtained with these simulation showed that the high-lift rudder would be effective in improving the turning ability of the ship. But it was clarified that there Has a possibility that course changing ability night become bad through an increase of rudder lift.

• Journal of Fisheries and Marine Sciences Education
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• v.15 no.1
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• pp.47-56
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• 2003

Recently with the conclusion of fisheries agreements between Korea and Japan, and between Korea and China, trawlers in korea must operate in smaller fishing ground than before. As a result of this, the possibilities of collisionin increases gradually between trawlers under operation in this area. Authors performed a series of experiments on board to give the information of collision avoiding action to navigators of trawlers. The obtained results are summerized as follows : 1. The greater the rudder angle, the smaller the value of T, but there is no big diffierence in K due to rudder angle. 2. The greatest distance is to be kept by the give way vessel to avoid collision when the crossing course angle is $70^{\circ}{\sim}90^{\circ}$. In this case the safety minimum approaching distance must be more than 5 times of her own length. 3. Risk of collision in crossing is more greater in obtuse situation than in acute one. 4. The navigator of the give way vessel must take an action to avoid collisions outside of the minimum safety approaching distance.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.6
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• pp.654-659
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• 2016

Recently, the passenger ship 'Sewol' capsized with an abrupt inclination while she was making a small angle alteration. It is very important to fully understand the concepts, causes and relevant corrections for a ship's transverse inclination, which is classified into heel, list and loll. In this study, the concept, development and calculation of loll were well considered and the actual magnitude of the angle of loll was simulated in a box-shaped model-ship experiment. The experimental values and its development according to different values of negative stability were compared with calculated values. In the results, experimental values for the angle of loll coincided closely with calculated values and the model inclined symmetrically on both port and starboard sides indicating an outstanding feature of loll. This study is expected to expand the concept of loll and help in the analysis of capsize incidents with unknown causes. Further experimental research or case studies concerning the risk of inappropriate correction for loll arising from misunderstandings will be needed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.10
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• pp.541-546
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• 2020

The surveillance radar for naval ships is an essential equipment of a battle system that executes the detection and tracking of targets, and the shooting support function; it calculates the three-dimensional track of the target range, azimuth, and altitude to carry out its duty. The surveillance radar consists of an antenna, a transceiver, a processing unit, and an air dryer section. The radar radiates the transmission signal on the antenna section, receives the reflected signal from the target, and amplifies the signals on the transceiver section. The signal received from the antenna is used to provide the operator with target information in various ways. This study identified the display problems when the information about the target is displayed through the radar. The causes of the problems were analyzed and improved. The tracking disappearance phenomenon caused by the altered-course of the ship was improved on the TWS tracking algorithm. The validity of the improved TWS tracking algorithm was confirmed by the normal condition of the target status on the B-scope.

• Journal of Navigation and Port Research
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• v.29 no.1 s.97
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• pp.9-15
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• 2005

To design ship channel is one of important factors for planning and developing a port. In most case, the core factors for designing ship channel are the layout and width of channel provided the net underkeel clearance is secured to be safe enough to pass. In this study, Variable Bumper Area(VBA) model is applied to design and assess ship channel. This model reflects ship's particular, ship domain theory, ship speed and mariner's ship handling skill and experience, especially external forces which cause leeway, set and drift and the change of ship maneuvering characteristics. A real time, full mission shiphandling simulator is used to analyze ship dynamic data according to mariner's ship control, external forces, ete. This model defines Domain degree and Domain-index for assessing the efficiency and safety of the channel. The proposed model is applied to Ulsan new port plan which has a channel width of 1.5 times the length of the largest vessel, a radius of 5 times the length of the largest vessel in a curve of 57 degree centerline angle and SBM facility adjacent to the lateral edge of channel. The result of this study shows that the width of the channel and radius of channel curve are suitable for the target ship but the difficulty of ship handling is caused by the large course change and SBM located in the vicinity of channel.

• Journal of Navigation and Port Research
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• v.47 no.1
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• pp.10-17
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• 2023

A series of studies on the development of autonomous surface ships have been promoted in domestic and foreign countries. One of the main technologies for the development of autonomous ships is path-following control, which is closely related to securing the safety of ships at sea. In this regard, the path-following performance of an autonomous ship should be first evaluated at the design stage. The main aim of this study was to develop a visual and quantitative evaluation method for the path-following control performance of an autonomous ship at the design stage. This evaluation technique was developed using a computational fluid dynamics (CFD)-based path-following control model together with a line-of-sight (LOS) guidance algorithm. CFD software was utilized to visualize waves around the ship, performing path-following control for visual evaluation. In addition, a quantitative evaluation was carried out using the difference between the desired and estimated yaw angles, as well as the distance difference between the planned and estimated trajectories. The results demonstrated that the ship experienced large deviations from the planned path near the waypoints while changing its course. It was also found that the fluid phenomena around the ship could be easily identified by visualizing the flow generated by the ship. It is expected that the evaluation method proposed in this study will contribute to the visual and quantitative evaluation of the path-following performance of autonomous ships at the design stage.