• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.11a
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• pp.103-104
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• 2023

이 연구는 충돌을 피할 수 없는 상황에서 유지선박의 충돌회피협력 동작 시점을 제시하기 위한 연구다. 관련된 기존 연구에서는 하나의 모델 선박을 본 선박과 상대 선박으로 간주 하였다. 그리고 선박의 항적 계산에 해상상태가 고려되지 않았다. 본 연구는 기존의 연구에서 식별된 한계점을 보완하였다. 선박의 항적은 조류, 파도, 바람을 고려하여 계산 되었고, CNN-LSTM을 통해 충돌 직전 항적을 예측 하였다. 모델선박은 벌크선박, 컨테이너선박을 본 선박으로 지정하였고, 상대 선박은 30미터 요트에서 400미터 대형 컨테이너선까지 고려하여, 다양한 상황에서 유지선박의 충돌회피 협력 동작 시점을 제시 하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.290-295
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• 2011

On the basis of DCPA(Distance to Closest Point of Approach) and TCPA(Time to CPA), the conventional algorithms for collision avoidances have a drawback that the '72 CORLEGs(International Regulations for Preventing Collisions at Sea, 1972) has not taken into account to prevent collisions between ships. In this paper, the proposed algorithm decides whether the own ship is a give-way vessel or a stand-on vessel by observing the relative bearing of the encountered ship. To determine the ship position and time for collision avoidance, the proposed algorithm utilizes the ellipse model for ship safety domain. The computer simulation is done to represent the process of adversive behavior. Using the proposed method, the past maritime accident is analyzed. The proposed method can be effectively applied to collision avoidance by CORLEGs even when the target ship's navigational lights is invisible in poor weather and/or in the restricted visibility.

• Journal of Navigation and Port Research
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• v.45 no.6
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• pp.298-305
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• 2021

Identifying the effect of turning characteristics on collision avoidance for Maritime Autonomous Surface Ships (MASS) can provide a key to avoid the collision of MASS. The purpose of this study was to derive a method to identify the effect of turning characteristics, which can be changed by various rudder angles and the ship's speed, on collision avoidance. The turning circle was observed using a mathematical model of a 161-meter-long ship, and it was analyzed that the turning circle had an effect on collision avoidance through numerical simulations of collision avoidance for four collision situations of two ships. The evaluation results using the two variables, the minimum relative distance between two ships and the minimum time at the minimum relative distance, demonstrated that the rudder angle has a major influence on the change of the minimum relative distance, and the ship's speed has a major influence on the change of the minimum time. The evaluation method proposed in this study was expected to be applicable to collision avoidance as a measures in remote control of MASS.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.113-118
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• 2017

Various studies on the method of ship collision risk assessment for alarm have been reported constantly, and the result of the studies is applied to navigation devices. However, it is known that navigators ignore or turn off frequent alarms from the devices of predicting collision risk, because they may avoid collisions in the most of situations. In oder to make the prediction of ship collision risk more useful, it is necessary to consider the customary actions of ship collision avoidance. This paper proposes a system of analyzing collision avoidance measures of ships according to the types of encounter and managing the avoidance history of each ship. The core module of the system is designed as a neuro-fuzzy based inference system, and the test of the module validates the proposed system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.06a
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• pp.319-320
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• 2022

본 논문에서는 '지능형 해상교통정보 서비스'로 축적된 선박 위치데이터를 가공하여 선박의 조우상황 데이터를 추출하고 분석하였다. 선박의 위치, 침로, 속력을 통해 TCPA, DCPA와 선박간 거리를 계산함으로써 선박의 충돌위험 인지 후 회피 상황에서 보이는 데이터의 형태와 분포를 분석하였다. 추후 상대방위와 SOG가 TCPA 변화량에 미치는 영향에 대한 연구가 진행되면, 실제 사용자의 충돌위험 판단과 근접한 충돌위험도 분석 모델로 활용할 수 있을 것으로 보인다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.11a
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• pp.264-264
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• 2019

The purpose of this paper is to establish development concepts for a novel collision avoidance system with preventing function of navigator's human error (Hu-CAS) in ship control behaviors. Hu-CAS consists of four modules: 1) collision risk assessment module to estimate collision priority between the ship and objects, 2) decision-making module to decide collision risk levels, 3) parameter estimation module needed in the ship control to avoid collisions and 4) control system to control the rudder angle and speed. Hu-CAS, proposed in this paper, can provide a novel system substitution current Autopilot and/or a CAS be teen manned vessel and Autonomous ship in a future.

• Journal of the Korean Society of Marine Environment & Safety
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• v.14 no.2
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• pp.157-162
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• 2008

The ship's maneuverability is the important factor to avoid ship's collisions. The ship's maneuverability is usually measured in a deep water, and the turning ability is decreased and the course stability is improved in a shallow water. The variation of the turning ability could cause the risk of collision. In this paper, we proposes application technique of Variable Safe-Guard Ring to consider the shallow water effect and to be simple to estimate the grade of collision risk simultaneously. Through the mathematical simulation, the availability of new method was varified. Therefore this method is expected enough to support a maneuver for collision avoidance.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.7
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• pp.1023-1030
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• 2021

Korea Maritime Safety Tribunal (KMST) statistics released in of 2019 indicated that most collision accidents involving small-size vessels with less than 20 gross-tonnage occur mainly due to operational carelessness, such as forward-looking negligence and unskilled vessel control. As an effective remedy, training and education for vessel operators are being strengthened to prevent accidents. However, collision accidents are increasing, and technical measures are continuously developed to reduce accidents caused by human factors. In this study, an avoidance algorithm and prototype of terminal-controller against collision between two nearby vessels was developed for implementation on relative navigation control by adopting WAVE telecommunication technology. Moreover, several sea trial tests were performed to verify the collision avoidance algorithm and control system using two fishing vessels for dif erent scenarios.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.6
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• pp.524-527
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• 2001

In this paper we propose a collision risk decision system for collision avoidance system A collision avoidance system carries out collision avoidance based on collision risk of unknown obstacle. In the traditional researches, using DCPA and TCPA for calculating the collision risk has problem that they produce a same collision risk for ship which located in the given distance. The solves the problem we use DCPA, TCPA, and VCD for calculating collision risk. A proposed system has two advantages that is produce more detailed collision risk and reflects the international Regulations for Preventing Collision at Sea.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2014.10a
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• pp.125-127
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• 2014

본 논문은 선박의 일대다 충돌상황에서 국제해상충돌예방규칙(COLREGs, International Regulations for Preventing Collisions at Sea, 1972)을 만족하도록 피항경로를 생성하는 충돌회피 알리고즘의 개발과 적용에 관해 기술한다. 본 연구에서 제안하는 알고리즘은 조우선박의 상대 방위각, 충돌위험정도 및 상호시계와 제한시계의 시계상태에 따라 피항동작을 분류하고, 규칙기반형태의 전문가시스템인 CLIPS(C Language Integrated Production System)를 이용하여 국제해상충돌예방규칙에 따른 피항행동공간을 생성한다. 검증을 위하여 Izuma problems의 3가지 충돌상황을 가정한 컴퓨터 시뮬레이션을 수행하였으며, 다양한 충돌상황에 대하여 안전한 충돌회피경로가 생성됨을 확인 할 수 있었다.