• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.70-72
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• 2007

선박이 부두에 이접안할 경우 쓰러스터나 특수 추진기가 없는 선박은 예선의 도움을 받아 이접안을 하게 된다. 이접안시 예선들은 도선사의 명령에 의하여 선박의 이접안을 도와주게 된다 이때 본선과 예선의 위치가 2차원 지도에 표시되고 부두와의 상대적인 거리가 나타난 다면 이접안에 매우 도움이 될 것으로 생각된다. 본 연구에서는 이러한 예선사용 지원 시스템에 대해서 개념 설계를 수행하였다. 예선사용 지원 시스템은 본선, 예선 및 부두의 상황을 모니터링하는 예선사용 모니터링 기능과 해양환경을 고려할 때 필요한 예선력을 계산하여 나타내주는 예선사용 자동화 기능을 갖고 있다. 이러한 예선사용 지원 시스템은 항만에 설치된 네트워크를 기반으로 설계되었으며, 추후 한국해양연구원의 선박운항 시뮬레이터를 이용하여 검증될 계획이다.

• Journal of Navigation and Port Research
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• v.33 no.1
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• pp.21-25
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• 2009

The ship without thrusters and special propulsion system is supported by the tug boats during berthing and unberthing. The orders to tug boats are made by a pilot. If the positions of ship, tug boats and port are displayed in 2D map, it will be helpful to pilots. In this research, a network-based pilot supporting system(NPSS) has been conceptually designed NPSS, necessary for safe and efficient pilot, has two main functions. One is the monitoring of the situation of berthing and unberthing. And the other is the automatic calculation of the tug forces considering environmental conditions. The NPSS is designed on the basis of network system around the harbor. The NPSS will be validated using ship-handling simulator in the future.

• Journal of Navigation and Port Research
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• v.44 no.6
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• pp.439-446
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• 2020

The IMO has adopted emission standards through Annex VI of the International Convention for the Prevention of Pollution from Ships (MARPOL) that strictly prohibit the use of bunker C oil for vessels. In this study, we have adopted the turret-moored Floating LNG-Bunkering Terminal (FLBT) which is designed to receive the LNG from LNGCs and transfer it to LNG-bunkering shuttles in side-by-side moored condition. Numerical analyses were carried out using the high-order boundary-element method for four vessels at various relative distances. Mean wave drift forces were compared in an operational sea state. A model test was performed in the ocean engineering basin at the Korea Research Institute of Ships & Ocean Engineering (KRISO) to verify the safety of the berthing/unberthing operation. In the model test, a jig was designed to simulate tug boats pushing or pulling the bunkering vessels, so that the friction force of the g operation was not affected. Safety depended on the environmental direction, with more stable operation possible if the heading-control function of FLBT is applied to avoid beam-sea conditions.

• Journal of Ocean Engineering and Technology
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• v.22 no.3
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• pp.34-40
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• 2008

his study discusses the design of an automatic berthing control algorithm for ships with a haw thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the law speed maneuvering of ships was used to design a MIMO (multi-input multi-output) nonlinear control algorithm. The algorithm consists of two parts, the forward velocity control and heading angle control. The control algorithm was designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle was obtained by the so-called "Line of Sight" method. An optimal control force allocation method forthe rudder and the thrusters is suggested. The nonlinear control algorithm was tested by numerical simulations using MATLAB, and showed good tracking performance.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2021.11a
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• pp.160-161
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• 2021

추진동력원인 모터의 동력을 외부 수중에 있는 프로펠러에 전달하는데 있어서 해수 유입을 막은 수밀화 장치를 해야하고 매년 정기적으로 또는 손상시 본 부품을 교체하는데 많은 비용을 들어 선박을 Dry dock나 Slip Way에 상가해서 교체하는 단점을 가지고 있다. 크루선에 장착된 Azipod System은 조정성이 우수해 자력 이접안이 가능하다. K-Azipod형 무접촉 동력전달 장치는 Azipod 및 일반 선박에도 적용이 가능한 제품이다.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.3
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• pp.165-174
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• 2023

Unmanned Surface Vehicle (USV)'s berthing and unberthing is the most difficult maneuvering tasks and have the highest risk of accidents. In this paper, we designed a berthing/unberthing control algorithm given human joystick command for an USV equipped with a waterjet and a bow thruster. The berthing and unberthing maneuvers are performed remotely by a joystick operator at the Ground Control Center (GCC) where the status of USV and environmental situation can be monitored. We interpret the human joystick commands into USV's desired speed, yaw rate, and heading angle commands. next, we developed a control algorithm for the desired target values of MIMO actuators (engine speed, bucket step, nozzle angle, and bow thruster state) to follow the interpreted commands. The validity of the control algorithm is confirmed through simulations and sea trials at Gwang Am port.

• Proceedings of the Korean Information Science Society Conference
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• 2001.04b
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• pp.556-558
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• 2001

전체 영상을 이용하지 않고 영상 안에 포함된 특정 객체 혹은 영역만을 이용하는 "영역에 의한 질의(query-by-region)" 방법은 내용기반 영상 검색 중 상위개념의 방법 이지만, 영상 분할의 한계, 여러개로 분할된 영역을 모두 검색하기 위한 인덱싱 문제, 유사성 측정 시 선형적으로 분리되지 않는 특징 값들에 대한 무리한 선형 조합으로 인한 검색 오류와 같은 많은 문제점을 안고 있다. 따라서 본 논문에서는 영역 기반 영상 검색 시스템인 FRIP에 대하여 영상 분할의 한계를 극복하고, 사용자의 주관성을 영상 검색에 적용하기 위해 확률적 연관성 학습 모델(MPFRL)을 유사성 측정 단계에서 적용 하였고, 아울러 검색 모델로는 기존에 일반적으로 사용되어 오던, 선형 모델을 사용하지 않고 선형 모델보다 유연한 검색 결과를 보여주는 확률적 이접 부울 모델(PDB)을 사용하였다. 또한, 검색 시간을 단축 시키기 위해, 선형 검색 방법에 부울 AND 연산자를 적용 시킴으로써, 검색 시간을 상당부분 단축 할 수 있었다. 실험 결과, 본 논문에서 제안하는 방법(MPFRL+PDB)을 사용할 경우 검색 결과가 선형 조합 보다 향상되는 것을 알 수 있었다. 아울러 사용자 피드백을 통해 사용자가 특징 가중치를 일일이 조절하지 않더라도 단순한 몇 번의 클릭만으로 사용자의 주관성을 반영하고 보다 정확한 검색 결과를 보여 줄 수 있는 시스템을 설계 할 수 있었다.

• Journal of the Korean Institute of Navigation
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• v.15 no.1
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• pp.12-47
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• 1991

This work aims to introduce the concept of microcomputer aided port design simulation methodology including the analysis of the mathematical models to be implemented and apply it to the Third Stage Busan Port Development Project. In the Busan case study, the size of the proposed turning basin of the new terminal, together with the operational strategies of berthing and unberthing, was examined, In addition, the safety on ship's entry and exit through the projected new breakwaters was ascertained. From the application of simulation to the Busan project, it was found that the proposed dredging area was not sufficiently wide enough for the modelled container ship to perform A time unberthing (in which the ship turns to port as she manoeuvres away from N.1. Berth with the assistance of tugs), especially in a strong easterly wind. It is therefore, recommended that Busan pilots should be advised to sue B type unberthing strategy, in which the ship goes astern from no.1 berth tot he turning area in front of No.2 berth(where the ship turns 180 degrees clockwise), especially when the wind is very strong, It is also recommended that a sea buoy be placed outside the new breakwaters, as this was found to improve the safety of ship manoeuvres through the breakwaters significantly . Another recommendation is that the Korean hydrodynamic Office carry out a detailed survey of the currents in the water area near the new breakwaters once they have been constructed. In addition, it is to be recommended that a current meter be placed at the recommended sea buoy to improve the safety of ship manoeuvres which could otherwise be jeopardised by eeroneos current information.