• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.252-259
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• 2008

The deep-sea mining system is generally composed of surface vessel, lifting system, buffer, flexible pipe and miner. The mining system can be regarded as a large-scale system in which each subsystem is interconnected to other ones. In order to control a large-scale system, decentralized control approaches have been proposed recently. In this paper, as a basic study on application of decentralized control, firstly, the mining system was modeled in a simplified way. Lifting system and buffer were regarded as a spherical pendulum and the flexible pipe was taken as a two-dimensional linear spring connection. Based on the simplified model dynamics, the mining system can be decentralized two subsystems, the one consisting of surface vessel, lifting system and buffer, and the other, the miner. Next, this paper proposed the design of controller for each decentralized subsystem by regarding the interacting terms as disturbances. The controllers kept the constant distance between two subsystems during the miner was moving on the specified track. Finally, the efficiency of proposed controller was proven through the numerical simulation of the derived model.

• Journal of Power System Engineering
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• v.16 no.2
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• pp.66-74
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• 2012

In this paper, the authors propose a new approach to control a barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. However sometimes the thrust systems are installed on it, and in general the rope control by mooring winch system is used. It may be difficult to compare the control performances of two types. If we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a DPS design problem which can be extended to the many application fields. The goal of this paper is twofold. First, the sliding mode controller (SMC) for positioning the our vessel is proposed. Especially, in this paper, a robust stability condition is given based on descriptor system representation. In the result, the sliding mode control law guarantees to keep the vessel in the defined area in the presence of environmental disturbances. And second, the thrust allocation problem is solved by using redistributed pseudo-inverse (RPI) algorithm to determine the thrust force and direction of each individual actuator. The proposed approach has been simulated with a supply vessel model and found work well.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.4
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• pp.504-510
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• 2019

Practical test items were analyzed to extend the existing scoring method for boat operator licenses to an electronic scoring method. We have attempted to digitize the method within the current practical test system scope and have developed an electronic scoring system using LiDAR sensors and WAVE communication. The results of the study are as follows; the first, the scoring data entered into the LiDAR and examiner score device on the boat were transferred from an integrated processing unit to a land control center through WAVE communication. The system was constructed and verified to store and manage examinee data. Second, when testing the meandering task, accurate distance measurement was achieved by using LiDAR instead of visually observing the stick (3 m), and an accurate distance was displayed through the examiner score device quickly. Finally, we confirmed that it is possible to smoothly transmit and process the WAVE communication used to transfer the score data acquired from the boat to the monitoring center at a high speed without loss.

• 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.

• 베이커리
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• no.9 s.434
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• pp.55-58
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• 2004

세계 최고 권위를 자랑하는 슈거크래프트 국제대회'CREATIVE WORLD OF SUGAR 2004'에 참가한 한국의 이종열 씨가 2단 웨딩케이크 부문에서 금상을 수상했다. 지난 7월 24일부터 25일까지 이틀 동안 슈거크래프트의 본고장 영국에서 열린 이 대회에 한국 대표로서는 처음 참가해 3개 부문에 걸쳐 금ㆍ은ㆍ동상을 휩쓴 이종열 씨는 뛰어난 색채감각과 정교한 기술로 세계 슈거크래프트인들의 눈길을 사로잡았다.

• 보건세계
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• v.63 no.1
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• pp.10-12
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• 2014

금방이라도 눈물이 그렁그렁 맺힐 것만 같은 큰 눈, 그리고 선해 보이는 이목구비${\cdots}$. 여배우 이혜은, 그녀를 처음 본 순간 같은 여자가 봐도 '참, 참한 여자다' 할 정도의 탄성이 절로 나왔다. 하지만 연기력까지 겸비한 배우임에도 불구하고 1996년 주연 영화 '코르셋'으로 신인여우상 수상 이후 지금까지 큰 영광없이, 주연보다는 조연으로, 다만 쉼 없이 달려온 그녀다. 그런 그녀가 최근 때 아닌 황금기를 맞았다.

• Journal of the Korea Society for Simulation
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• v.17 no.4
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• pp.167-174
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• 2008

The introduction of confocal microscopy makes it possible to observe the structural change of live neuronal cell. Neuro-degenerative disease, such as Alzheimer;s and Parkinson’s diseases are especially related to the morphological change of dendrite spine. That’s the reason for the study of segmentation and extraction from confocal microscope image. The difficulty comes from uneven intensity distribution and blurred boundary. Therefore, the image processing technique which can overcome these problems and extract the structural information should be suggested. In this paper, we propose robust structural information extracting technique with confocal microscopy images of dendrite in brain neurons. First, we apply the nonlinear diffusion filtering that enhance the boundary recognition. Second, we segment region of interest using iterative threshold selection. Third, we perform skeletonization based on Fast Marching Method that extracts centerline and boundary for analysing segmented structure. The result of the proposed method has been less sensitive to noise and has not been affected by rough boundary condition. Using this method shows more accurate and objective results.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.188-188
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• 2022

선박의 운용 효율을 높일 수 있는 방법인 무인 운용체계는 근래에 많은 관심을 받고 연구되어 왔다. 특히 무인수상선과 무인수중체의(USV-AUV)의 복합 운용 분야는 그 동안 어려움이 있었던 심해저 탐사 및 특수 임무 활용에 용이하여 많은 연구가 수행되고 있다. 본 연구에서는 쌍동선 형태인 무인수상선이 모선이 되고 무인수중체가 결합하여 충전하고 다시 진수하여 원거리 및 심해저 조건에서 무인수중체가 운용 가능하도록 하는 시스템의 일부인 USV-AUV의 docking을 위한 DP 시스템을 개발하고 선박해양플랜트연구소 해양공학수조에서 모형시험을 통해 이를 검증하였다. 또한, 실제 제작된 무인쌍동선과 추진 시스템을 활용하여 모형시험을 통해 검증한 DP 알고리즘을 적용하여 화성 제부도 앞바다에서 실선 DP 테스트를 수행하였다. 실 해역에서의 DP 시스템 테스트는 정확한 환경 조건의 계측 및 구현이 어려워 모형시험과 같은 정량적인 평가는 어렵지만, 정성적으로 DP 시스템이 작동하는 것을 확인할 수 있었다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.7
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• pp.836-842
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• 2023

Under the Welfare of Disabled Persons Act, the national qualification test allows disabled and non-disabled people to appear for the same test, and the deaf do not fall under the reason for disqualification from obtaining a license for power-driven water leisure crafts; therefore, even the deaf can obtain a license. During a risk of collision at sea, ships and power-driven water leisure crafts notify the other party of dangerous signals such as maneuvering and warning signals through sound signals to prevent accidents that may occur because surrounding ships are not visible. However, a method is required to prevent marine accidents that may occur when the deaf cannot hear danger signals through sounds from nearby ships or power-driven water leisure crafts during leisure activities owing to hearing impairment. A sound reception system is a device installed on a ship where missionary work is completely deposed to display the amplification of external sounds and the direction of sound reception on the screen. Through visual display of sound signals such as dangerous signals that cannot be heard owing to hearing impairment, improvement measures were proposed to prevent marine accidents that can occur owing to the inability of the deaf to check sound signals during leisure activities.

• 한국기계연구소 소보
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• s.13
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• pp.123-141
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• 1984

The safety aspects of ship handing have become increasingly important recently, due to the changes in sea transportation. These are characterizes by larger units, increased traffic density on sea lane, sea transport of dangerous cargo, etc. In addition, as a economic aspect of ship handing, it has obtained an increased attention in connection with port development and consideration of allowable ship size for existing ports. One method for evaluation of maneuvering problems is simulation on a computer by means of a mathematical model of the ship maneuvering motion. The present report describes the elements of a mathematical model for ship maneuvering and gives some results of maneuvering predictions through the simulation.