• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.33 no.4
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• pp.290-297
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• 1997

Underwater robotic vehicles(URVs) are used for various work assignments such as pipe-lining, inspection, data collection, drill support, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc. As the use of such vehicles increases the development of vehicles having greater autonomy becomes highly desirable. The vehicle control system is one of the most critic vehicle subsystems to increase autonomy of the vehicle. The vehicle dynamics is nonlinear and time-varying. Hydrodynamic coefficients are often difficult to accurately estimate. It was also observed by experiments that the effect of electrically powered thruster dynamics on the vehicle become significant at low speed or stationkeeping. The conventional linear controller with fixed gains based on the simplified vehicle dynamics, such as PID, may not be able to handle these properties and result in poor performance. Therefore, it is desirable to have a control system with the capability of learning and adapting to the changes in the vehicle dynamics and operating parameters and providing desired performance. This paper presents an adaptive and learning control system which estimates a new set of parameters defined as combinations of unknown bounded constants of system parameter matrices, rather than system parameters. The control system is described with the proof of stability and the effect of unmodeled thruster dynamics on a single thruster vehicle system is also investigated.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2007.04a
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• pp.168-171
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• 2007

A technical review of current slurry and gelled propellants is presented. In advanced countries, it is confirmed that these propellants have high specific impulse, density, excellent handling, safety characteristics and thrust controllability through research since 1950s. Substantial researches have been pursued to characterize the rheological properties, spray/combustion phenomena and propulsion system design for the gel propellant characteristics. Slurry and gelled propellants are developing actively to applicate both military and space propulsion fields such as tactical missile, air-breathing ramjet, pulse detonation engine, and combined cycle engine of future propulsion mode.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2007.04a
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• pp.193-196
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• 2007

The motor case for the KSLV-I KM is the first satellite launch vehicle ever to be developed by Korea to deliver the 100 kg class satellite into Earth's low orbit. This SLV is made of two stages, and the 2nd stage is made of solid rocket motor. The motor case of the KM is made of all composite materials except for the interface structures. Manufacturing process for the motor case such as insulation, filament winding for the motor case, fabrications for the interface structures will be discussed in this paper.

• Special Issue of the Society of Naval Architects of Korea
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• 2005.06a
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• pp.97-106
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• 2005

According to the trends of construction of large size vessel with high power the natural frequencies of the bending modes of propeller blades have been lower than the past. Therefore, it is expected that the noise and vibration problems of the marine propeller are frequently occurred. As main issue of the propeller noise and vibration problem, the cavitation noise and singing noise due to the flow induced excitation of the bending modes of propeller blade in the high frequency range has been studied by the hydrodynamic researchers in the view point of the excitation force reduction. In this paper, the vibration mode characteristics of propeller with a large diameter in very large vessel are investigated by the vibration analysis of the finite element method using MSC/Nastran and the vibration measurement by the impact test on the propeller blade. According to the results, the natural frequencies of various blade bending modes in water entrained condition could be estimated from the natural frequencies taken by the measurement and free vibration analysis in the dry condition, and it could be estimated how the high frequency noise such as singing is generated from the blade bending modes.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.2
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• pp.178-187
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• 2010

The performance of the waterjet system of a patrol boat has been experimentally studied. A waterjet propulsion system has many advantages comparing with a conventional screw propeller especially for high speed craft because of its good cavitation performance. This paper describes experimental procedure and analysis method of self-propulsion tests with a 1/12-scale model. Experimental results were analyzed according to ITTC 96 standard method. The full-scale effective power and delivered power of the ship were also analyzed and the full-scale speed predicted from the model test compares reasonably with the measured full-scale results of the sea trial.

• Bulletin of the Society of Naval Architects of Korea
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• v.7 no.1
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• pp.1-12
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• 1970

The propeller induced pressure fluctuation around a ship's stern is one of the interesting problems from viewpoints of the noise and vibration. Most of the experimental works on the subject employ pressure transducer attached on hull surface near the propeller. In the technique, the measured pressure includes the hydrodynamic pressure transducer attached, if they exit. Hence, the separation of the additional pressure due to vibration from the measured pressure is essential for the determination of true values of the propeller induced pressure. In this paper, to contribute to the separation method, the author investigated the additional hydrodynamic pressure as below, based on the numerical calculation. (1) Hydrodynamic pressure on the body surface of two dimensional cylinders of some mathematical sections such as ellipse, rectangle, Lewis form of hypotrocoidal charactor and curvilinear-element section with chines oscillating vertically at high frequency in a free surface. (2) Hydrodynamic pressure on the surface of the shell plate in local vibration in an ideal fluid.

• Journal of the Society of Naval Architects of Korea
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• v.39 no.3
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• pp.1-7
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• 2002

Flow mechanism of contractive and dilative motion is numerically investigated to obtain a propulsive force in highly viscous fluid, which is the simulation of the propulsion in micro-organisms. The computing code for the analysis of complicated motions is developed with cell-centered unstructured grid scheme. The developed code is validated by the well-known problems of cavity flow and oscillating wall. The validated code is applied to the contractive and dilative motion in narrow tube. The computed results are compared with nodal points scheme. By the present results, it is found that propulsive force can be obtained by the contractive and dilative motion through simulation with the developed code.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.2 s.146
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• pp.164-170
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• 2006

To improve ship's maneuverability and carry out special goal POD propulsion system was equipped as propulsion and maneuvering system. To predict the maneuverability of a ship with POD propulsion system HPMM tests and POD open water test are carried out. In this paper modular model with 4 degree of freedom of a ship with twin POD propulsion system is presented. To use modular model the forces of POD propulsion system are measured separately from the hull forces. The measured forces and moments are analyzed by using modular model and whole ship model The simulation results of modular model are compared with those of whole ship model. From the present study it is Possible to analyze HPMM tests of a ship with twin POD propulsion system by modular model.

• 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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• 2018.11a
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• pp.4-6
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• 2018

Traditional methods of research on ship maneuvering performance were estimated in calm water. Ship maneuverability in waves is of vital importance for navigation safety of a ship (ITTC, 2008). The accurate estimation of force and moment acting on the ship and rudder behind propeller are necessary because the rudder, propeller and hull interaction is of key importance. In addition, course-keeping ability and maneuvering performance of a ship can be significantly affected by the presence of wave. In this study, the model test is performed in the regular wave in the square wave tank in Changwon National University and the hydrodynamic force acting on the ship hull and rudder behind the propeller in various wave directions is investigated. The effect of wavelength and wave direction on hydrodynamic force acting on ship and rudder behind propeller in regular waves is discussed.