• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.1
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• pp.38-46
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• 2021

In the era of the 4th Industrial Revolution, the interest in autonomous ship technology is increasing as high-tech technologies are being increasingly utilized throughout the industry. Therefore, we conducted a basic study on autonomous ships. In particular, a passenger ship model was produced and an autonomous navigation system was established by applying the ardupilot used for drones. The possibility of automatic control of the autonomous ship operations was confirmed by executing various voyage plans using the built model ship. In the performance test for maintaining the course the model ship could not follow the designated course straight and sailed up to 5.4 m away from the course while navigating in a zigzag (S-shape); however, after the parameters were modified, the deviation distance was reduced to a maximum of 1.8 m. In the turning performance test, the maximum diameter of the turning sphere was found to be approximately 9.3 m, but no significant change could be confirmed even after the parameters were modified. However, the results of our tests on slowing down the ship before arriving at the WP confirmed that the diameter of the turning sphere was reduced to a maximum of approximately 3.2 m. In order to evaluate the stopping performance, the last scheduled stopping position of all experiments was compared with the actual stopping position of the model ship and it was confirmed that the model ship stopped at a point at least 0.4 m and a maximum of 6.2 m away from the stopping position. In the future, improvement of course stability, turning performance, and stopping performance is required through modification and supplementation of various parameters. Moreover, a study on automatic berthing of the model ship through automatic control is planned.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.2
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• pp.211-218
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• 2021

This paper addressed the problems of controlling the coupled pitch-roll motions in a marine vessel exposed to the regular waves in the longitudinal and transversal directions. Stabilization of the pitch and roll motions can be regarded as the essential task to ensure the safety of a ship's navigation. One of the important features in the pitch-roll motions is the resonance phenomena, which result in unexpected large responses in terms of pitch and roll modes in some specific conditions. Besides, owing to its inherent characteristics of coupled combination and nonlinearity of restoring terms, the vessel shows various dynamical behaviors according to the system parameters, especially in the pitch responses. Above all, it can be seen that suppression of pitch rate remains the most significant challenge to overcome for ship maneuvering safety studies. To secure the stable upright condition, a quasi-sliding mode control scheme is employed to reduce the undesirable pitch and roll responses as well as chattering elimination. The Lyapunov theory is adopted to guarantee the closed stability of the pitch-roll system. Numerical simulations demonstrate the effectiveness of the control scheme. Finally, the control goals of state convergences and chattering reduction are effectively realized through the proposed control synthesis.

• Journal of the Korean Society of Hazard Mitigation
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• v.8 no.5
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• pp.147-153
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• 2008

Tractive forces by flowing water and ship generated waves are items that affect the stability of the low flow revetments among various external forces exerting on those revetments. Bank revetment stability by these external forces is analysed in this study. The study area is the section of the test construction area changing the artificial revetments to ecological revetments in Han river. Tractive forces are computed using the calculated flow velocity using RMA-2 model. The stability is analyzed comparing the calculated tractive forces with permissible tractive forces of the revetments in the study area. The calculated tractive forces at section number 93 is higher than permissible tractive forces in that section, so the section is estimated hydraulically unstable. The calculated tractive forces for the storm of 10th August 2007 are small compared to the permissible tractive forces in all sections. The sections are considered to be hydraulically stable, but have been eroded in some parts. The reason for the erosion is considered to have insufficient time for the plants taking root, and be exerted composite forces such as forces by ship generated waves. Ship generated waves by the excursion boats and small boats called river taxi was calculated. Wave forces by these calculated waves are computed and compared with the supporting forces of the revetment material. The external forces exerted by the ships in Han River on the revetments is very little compared with the permissible supporting forces of the revetments, so the revetments are estimated hydraulically stable. But considering the composite forces are exerted simultaneously, the stability consideration should include these composite forces.

• Journal of the Korean Institute of Navigation
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• v.25 no.1
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• pp.1-9
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• 2001

It is well known that, especially in the case of full-bodied ship, the course stability may become the severest among 4 items of requirement in Interim Standards for Ship Manoeuvrability adopted by IMO in 1993. The purpose of this study is to find some ideas for characteristics of fluid flow pattern around ship's stern in manoeuvring motion with parameter of changes in rudder size. We carried out two kinds of model experiment in obliquely running condition at circulating water channel. One is measurement on straightening effect of incoming flow to rudder and the other is experiment on flow visualization around the gap between rudder and stern-bottom. We discuss the correlation between the flow characteristics around ship's stem and flow straightening effect at rudder from the viewpoint of course stability. As a result, it is clarified that the gap between rudder and stern-bottom plays an important role in course stability of full-bodied ship. It is pointed out that there is quite a possibility of bad course stability as the gap between rudder and stern-bottom decreases.

• Journal of Navigation and Port Research
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• v.46 no.6
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• pp.509-516
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• 2022

Recently, ships have begun using the Asterix CAT 240 format as a method for transmitting radar image data to other devices. However, the Asterix format has a flexible structure that can be defined by the user, and a format structure defined as unsuitable for ship radar operation may undesirably increase navigational equipment network traffic or reduce stability. Therefore, to reduce the traffic of the navigation network and enhance the stability, a method of defining the optimized Asterix CAT 240 format with an appropriate setting value according to the performance of the radar scanner and display device was studied.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2020.11a
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• pp.93-95
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• 2020

주 5일제 근무, 개인 여가문화 확산, 국민 소득 증대 등으로 인해 해양을 레저의 목적으로 이용하는 사람들이 증가하고 있으며, 이러한 이용객의 증가에 따라 사고 발생의 개연성도 함께 증가하고 있는 상황이다. 우리나라에서는 선박을 이용한 레저활동의 경우에는 안정장비의 착용을 의무화하고 있지만, 연안 해역에서의 해양활동에 대하여는 안전장비 착용 의무화가 시행되지 않고 있다. 따라서, 본 연구에서는 연안 이용객에 의한 사고통계 데이터 분석을 바탕으로 연안 이용객의 안전장비 착용의 필요성에 대하여 고찰하였다. 또한, 분석된 내용을 바탕으로 안정장비 착용 의무화 방안에 대하여 제안하였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.5
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• pp.709-718
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• 2021

As regulations on environmental pollution of ships have been strengthened, interest in smart ships such as electric propulsion ships equipped with hybrid power systems is increasing. Since batteries used in electric propulsion ships have a larger capacity than batteries used in vehicles, the price is high and maintenance is considered important. The ship's battery is manufactured as an integral type and is managed by the battery management system, and the maintenance and repair of the battery is performed through the replacement of the battery. we design and implement a battery module and a control algorithm using pre-cell for easy battery management. In addition, a controller is designed to transmit the data necessary for the electric propulsion ship power system control to the power control system. When a battery to which the corresponding spare-cell is applied is used, the stability of the ship and the battery system is increased, and it can have an advantage in terms of maintenance and repair.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.7
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• pp.1044-1050
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• 2021

After the occurrence of several passenger ship accidents in Korea, various systems are being developed for passenger ship safety management. A total of 162 passenger ships operate along the coast of Korea, of which 105 (65 %) are car-ferries with open vehicle decks. The car-ferry has a navigation pattern that passes through 2 to 4 islands. Safety inspections at the departure point(home port) are carried out by the crew, the operation supervisor of the operation management office, and the maritime safety supervisor. In some cases, self-inspections are carried out for safety inspections at layovers. As with any system, there are institutional and practical limitations. To this end, this study was conducted to suggest a method of detecting a vehicle using image processing and linking it to the calculations for ship stability. For vehicle detection, a method using a difference image and one using machine learning were used. However, a limitation was observed in these methods that the vehicle could not be identified due to strong background lighting from the pier and the ship in the cases where the camera was backlit such as during sunset or at night. It appears necessary to secure sufficient image data and upgrade the program for stable image processing.

• Journal of Ocean Engineering and Technology
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• v.12 no.2 s.28
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• pp.130-138
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• 1998

본 논문은 AUV의 수직면 운동제어를 수행하기 위하여 의사 슬라이딩 모드 제어기를 이용한 모델링 기법과 제어기 설계법에 관한 것으로서, 샘플링 간격이 길어지는 경우에도 시스템의 강인성이 확보되며 심도 제어가 안정적으로 수행되는 실용성을 실험과 수치 해석을 통하여 검증하였다. 제어기는 참고문헌에서 제안한 방법을 이용하였으며, 한국기계연구원 선박해양공학연구센터(KRISO)에서 개발한 VORAM호를 제어 대상 AUV로 선정하였다. PMM 시험으로 얻어진 운동 계수를 이용하여 수치 해석을 수행하였으며, KRISO의 장수조에서 실험을 수행하였다. 수치 해석과 실험 결과로부터 샘플링이 길어짐에 따라 의사 슬라이딩 모드 제어기는 연속계에 대한 슬라이딩 모드 제어기에서 발생하는 과도한 채터링 및 불안정성을 보이지 않았으며, 시스템의 안정성이 확보되고 불확실성에 대하여 강인한 제어 성능을 보였다. 또한, 본 논문에서는 수치 해석과 실험 결과를 근거로 의사 슬라이딩 모드 제어기의 설계를 위한 제어 변수의 선정 기준을 제시하였다.

• Transactions of the KSME C: Technology and Education
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• v.4 no.2
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• pp.75-83
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• 2016

Since fire is one of the most dangerous threats to the safety of the ship, from the safety device is installed on the vessel the digestive apparatus can be viewed as the most important safety device. The fire-extinguishing device to be mounted to the vessel structure affected the stability of the structure in accordance with the blue of the sea. In particular, the Rack part of the basic safety of a fixed fire extinguishing system in the absence of a $CO_2$ container. In this paper, by utilizing simulation techniques to apply the pressure data being ejected in each direction by ship motion and $CO_2$ containers Rack perform an analysis of the structural safety assessment was part of the digestive system accordingly.