• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.54 no.3
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• pp.231-238
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• 2018

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to ships. For example, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement that allows to test of autonomous ships in the defined area (port to port). Many countries and industries are pursuing to realize the autonomous vessel in the real world. In this paper, the authors try to develop related technology. As basic research, a ship model of the pilot vessel is developed and physical parameters are identified by experiment and simulations. Using the mathematical ship model, a control system is designed and control performance is evaluated by simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.417-420
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• 2004

Recently, the applications of unmanned system are steadily increasing. Unmanned automatic system is suitable for routine mission such as reconnaissance, environment monitoring, resource conservation and investigation. Especially, for the ocean environment monitoring mission, many ocean engineers had scoped with the routine and even risky works. The automatic system can replace the periodic and routine missions: water sampling, temperature and salinity measuring, etc. In this paper, an unmanned surface vessel was designed for routine and periodic ocean environmental missions. An autonomous control system was designed and tested for the unmanned vessel. A GPS and gyro compass was used for navigation. A linear autopilot model for course control can be derived from the maneuvering model. Nomoto's 2nd-order response equation was derived. The design methodologies and performance of the surface vessel were illustrated and verified with this linearized equation of motion. A linear controller was designed and automatic route tracking performance was verified for yaw subsystem.

• Nuclear Engineering and Technology
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• v.53 no.2
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• pp.532-548
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• 2021

Nuclear power plants contain several monitoring systems that can identify the in-vessel phenomena of a severe accident (SA). Though a lot of analysis and research is carried out on SA, right from the development of the nuclear industry, not all the possible circumstances are taken into consideration. Therefore, to improve the efficacy of the safety of nuclear power plants, additional analytical studies are needed that can directly monitor severe accident phenomena. This paper presents an interacting multiple model (IMM) based fault detection and diagnosis (FDD) approach for the identification of in-vessel phenomena to provide the accident propagation information using reactor vessel (RV) out-wall temperature distribution during severe accidents in a nuclear power plant. The estimation of wall temperature is treated as a state estimation problem where the time-varying wall temperature is estimated using IMM employing three multiple models for temperature evolution. From the estimated RV out-wall temperature and rate of temperature, the in-vessel phenomena are identified such as core meltdown, corium relocation, reactor vessel damage, reflooding, etc. We tested the proposed method with five different types of SA scenarios and the results show that the proposed method has estimated the outer wall temperature with good accuracy.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.18-20
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• 2021

In order to prevent collision accidents of ships, which has been increasing recently, research on artificial intelligence-based autonomously operated ships (Maritime Autonomous Surface Ship, MASS) is underway. However, most of the studies related to autonomous ships mainly target medium-to-large ships due to the size and cost of the autonomous navigation system, and the sensors used here have a problem in that it is difficult to mount them on small ships. Therefore, this paper provides a path tracking system equipped with GPS and IMU sensors for autonomous operation of small ships. GPS and IMU sensors are utilized to determine the exact position of the vessel, which allows the proposed system to manually control the small vessel model to create a path and then when the small vessel travels the same path. Use the Pure Pursuit algorithm to follow the path. As a result, In this research, it is expected that a lightweight and low-cost sensor can be used to develop an autonomous operation system for small ships at low cost.

• Journal of Navigation and Port Research
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• v.47 no.6
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• pp.430-436
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• 2023

Study on Changes in Vessel Traffic Services Due to Introduction of Maritime Autonomous Surface ShipsThe development of technologies related to Maritime Autonomous Surface Ships (MASS) has been actively progressing since the mid-2010s, focusing on themes such as collision avoidance, route planning, digital twin, and communication technologies. On the other hand, research on land-based infrastructure connected with MASS, such as logistics systems, port facilities, and vessel traffic services, has relatively received less attention. This study analyzed impact of emergence of MASS on existing vessel traffic service operations and proposed changes in control operations to prepare for its impact. To do this, current vessel traffic service operations were analyzed and elements of MASS technology that could affect vessel traffic control were identified. A survey was conducted among vessel traffic controllers to identify items related to the control of MASS. Results analyzed using the AHP method showed that preparation for emergency response and communication methods with MASS were the most important. Based on this, we were able to derive detailed plans for basic MASS control procedures and emergency response procedures based on data communication within maritime traffic control areas. MASS control procedures proposed in this study are expected to be used as a solution to resolve issues related to traffic safety of MASS in coastal areas.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.5
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• pp.817-832
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• 2015

This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV) in the horizontal plane. A nonlinear three Degree of Freedom (DOF) underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE) conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat's Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

• Journal of Ocean Engineering and Technology
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• v.19 no.1 s.62
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• pp.95-99
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• 2005

This paper presents the optimum design of cylindrical shell under external pressure loading. Two kinds of material, Al7075-T6, Ti-6Al-4V, are considered. For each material, the design variable is a thickness of the unstiffened parallel middle body shell, and the state variable, constraint, is hoop stress and the object .function is total weight of the cylindrical shell. Optimization is performed by conventional FE Program, ANSYS. In addition, buckling analysis is performed for the middle body of the cylindrical shell. Finally, we calculates the payload of the cylindrical shell to keep neutral buoyancy with optimized thickness in deep-sea applications.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.34-39
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• 2002

A Semi-Autonomous Underwater Vehicle (SAUV) capable of simple work at sea bed is under development in KRISO-KORDI. A pressure vessel of SAUV which is composed of FRP was manufactured to load electronic equipments. The objective of this paper is to verify the safety of the pressure vessel through conducting the structural analysis and test in pressure tank. Strain and stress under unit load were obtained by using ANSYS in the linear structural analysis. And local buckling analysis was performed with NASTRAN for the middle cylindrical hull. For the pressure test, strains were measured at three point. We found that the results by linear structural analysis and experiment are coincide well at the points where buckling does not occur. Maximum depth was estimated to be 250m by the local buckling analysis.

• Journal of Ocean Engineering and Technology
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• v.18 no.4 s.59
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• pp.52-58
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• 2004

A Semi-Autonomous Underwater Vehicle (SAUV), capable of simple work on the seabed, is under development in KRISO-KORDI. This SAUV pressure vessel is composed of fiberglass reinforced plastic (FRP), and is also manufactured to carry electronic equipment. The objective of this paper is to describe the safety check for the pressure vessel. This is achieved fly conducting structural analysis and testing in a pressure tank. Strain and stress test results, under unit load, are obtained fly using ANSYS in linear structural analysis. Local buckling analysis are performed with NASTRAN at the middle oj the cylindrical hull. The first test, using linear structural analysis, is unsuccessful, as buckling occurred. During the second test, linear structural analysis, combined with local buckling analysis, is conducted. There is no buckling up to 250 m when both ANSYS and NASTRAN are used.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2020.11a
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• pp.54-55
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• 2020

In 4th Industrial Revolution, technologies such as artificial intelligence, Internet of Things, and Big data are closely related to the maritime industry, which led to the birth of autonomous vessels. Due to the technical characteristics of the current vessel, the speed cannot be suddenly lowered, so complex communication such as the help of a tug boat, boarding of a pilot, and control of the vessel at the onshore control center is required to berth at the port. In this study, clustering analysis was used to resolve how to establish control criteria for vessels to enter port when autonomous vessels are operating. K-Means clustering was used to quantitatively stage the arrival pattern based on the accumulated AIS(Automatic Identification System) data of the incoming vessel, and the arrival phase using SOG(Speed over Ground), COG(Course over Ground), and ROT(Rate of Turn) Was divided into six phase.