• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.59 no.2
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• pp.145-154
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• 2023

In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1995.04a
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• pp.65-92
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• 1995

The final aim of our research project is a study on assessment of automatic steering system of ships in open seas. In order to achieve this aim we need to know the characteristics of each component of the system and also to know the characteristics of disturbance to ship dynamcis. In this paper we provide calculation method of irregular disturbance to ships in autopilot navigation in open seas and also show calculation examples about two kinds of ship ore carrier and fishing boat. The disturbance consists of irregular wave and random wind, The disturbance is calculated as equivalent yaw angular velocity. Each spectrum and time history of disturbance are reasonably evaluated. Further investigation concerning to performance index of autopilot system and energy loss related to automatic course keeping will be dealt with in another paper,

• Journal of the Korean Professional Engineers Association
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• v.14 no.4
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• pp.15-25
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• 1981

Electrical behaviors of the divalent silver oxide-zinc cell were analyzed for imporving capacity and keeping electrodes from passivation or sharp increases of cell internal resistance in the course of discharge. One of primary factors in relation to lowering performance can be depicted by cell internal resistance increase being created by various routes, first by insufficiency and/or the carbonation of the electrolyte, secondly by barrier blockage, thirdly by electrode passivation which are due to improper material use of wrong processing, and by gassing as fourth cause. The carbonation causes electrobyte to have impedance up as well as poor amalgamation, resulting in vigorous corrosion reaction of copper plated inner top, evolving hydrogen gas. Electrical characteristics of the cell was reviewed to elucidate relationships between the discharge capacity and the cell internal resistance.

• Journal of the Korean Institute of Navigation
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• v.22 no.1
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• pp.79-89
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• 1998

When an automatic course-keeping is concerned , as is quite popular in modern navigation, the closed-loop steering system consists of autopilot device, power unit(or telemotor unit), steering gear, magnetic or gyro compass and ship dynamics. In order to estimate steering system of ship in open seas, we need to know the characteristics of each component of the system and also to know the characteristics of disturbance to ship dynamics. Calculation methods of irrgular disturbances are based on the linear superposition principle. In this paper, for the purpose of evaluation of automatic steering of ships , the influences of linear control constants of autopilot on propulsive energy loss are investigated bya performance index is introduced from the viewpoint of energy saving. Numberical calculations are carried out for an are carrier and for a fishing boat in multi-directional waves.

• Journal of the Korean Institute of Navigation
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• v.19 no.2
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• pp.1-12
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• 1995

The final aim of our research project is a study on assessment of automatic steering system of ships in open seas. In order to achieve this aim, we need to know the characteristics of each component of the system, and also to know the characteristics of disturbance to ship dynamics. In this paper, we provide calculation method of irregular disturbance to ships in autopilot navigation in open seas, and also show calculation examples about two kinds of ship, ore carrier and fishing boat. The disturbance consists of irregular wave and random wind. The disturbance is calculated as equivalent yaw angular velocity. Each spectrum and time history of disturbance are reasonably evaluated. Further investigation concerning to performance index of autopilot system and energy loss related to automatic course keeping, will be dealt with in another paper.

• Journal of Advanced Research in Ocean Engineering
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• v.4 no.3
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• pp.105-114
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• 2018

In the past, traditional methods of research on ship maneuvering performance were estimated in calm waters. However, the course-keeping ability and the maneuvering performance of a ship can be influenced by the presence of waves. Therefore, it is necessary to understand the maneuvering behavior of a ship in waves. In this study, the force acting on a moving ship and a rudder behind the model ship will be performed in regular waves in Changwon National University (CWNU). In addition, the prediction force acting on the rudder in calm waters was carried out and compared with those of Computational Fluid Dynamics (CFD). Model test in regular wave was performed to predict the force acting on the ship and the rudder behind the model ship in various wave directions. The effects of wavelength and wave direction on hydrodynamic forces acting on the ship hull versus rudder angle is discussed.

• 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.

• Journal of the Korean Society of Marine Environment & Safety
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• v.30 no.4
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• pp.348-357
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• 2024

Maneuvering performance is crucial for fishing vessels, especially under operational conditions that involve frequent course changes and weight variations due to catch. Small vessel accidents account for approximately 60% of maritime incidents as of 2022, mainly attributed to collisions and stranding accidents due to insufficient maneuvering performance. Especially, accidents that occur on small vessels less than 10 tons account for about 65% of all accidents. The absence of international standards presents challenges in accurately evaluating the maneuvering performance of small vessels. In this study, a 4.99-ton small fishing vessel was selected as the target, and a 3d-cad model was created. The commercial numerical analysis program STAR-CCM+ was employed to establish a simulation environment for the vessel's maneuvring motion. Based on this standard loading conditions and weight distribution were considered, 10° / 10°, 20° / 20° zigzag tests and 35° turning test were conducted. The results revealed a tendency for decreased yaw and course-keeping performance and improved turning performance as the hull weight increased. However, in partial arrival and full load departure condition, the manoeuvering performance were relatively poor. Based on this, the need for evaluation of maneuvering and standardized criteria of maneuvering performance for safe navigation of small vessels is presented. Furthermore, it is expected that the evaluation results of maneuvering performance in this study can serve as fundamental data for establishing criteria for evaluating the maneuvering performance of small vessels.

• Special Issue of the Society of Naval Architects of Korea
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• 2009.09a
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• pp.47-51
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• 2009

It is well known that a rudder is influential devices to help ship maintain its stable performances, such as a course-keeping and maneuverability. In the procedures of a commercial ship design proper rudder dimensions (area and shape) ensuring better ship maneuverability have been settled in an initial concept design stage performed by a preceding department, without little structural consideration. It is true that there are time discrepancy between an initial design and a structural analysis stage. Therefore structural analysis results would sometimes cause a rudder to modify its dimensions. Most of these cases, however, ship design and performance tests had been finished. In this matter, only limited modifications of redder could be carried out. Besides, these could also cause bad effects on productivity. Finally, it is necessary to develop a new program considering co-relationship between an initial rudder design and a following work, a structural strength analysis, in order to enhance productivity and minimize a rate of redesign procedures.

• Journal of Navigation and Port Research
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• v.34 no.7
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• pp.525-532
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• 2010

Mobile Harbor (MH) is a new transportation platform that can load and unload containers onto and from very large container ships at sea. It could navigate near harbors where several vessels run, or it could navigate through very narrow channels. In the conceptual design phase when the candidate design changes frequently according to the various performance requirements, it is very expensive and time-consuming to carry out model tests using a large model in a large towing tank and a free-running model test in a large maneuvering basin. In this paper, a new Planar Motion Mechanism(PMM) test in a Circulating Water Channel (CWC) was conducted in order to determine the hydrodynamic coefficients of the MH. To do this, PMM devices including three-component load cells and inertia tare device were designed and manufactured, and various tests of the MH such as static drift test, pure sway test, pure yaw test, and drift-and-yaw combined test were carried out. Using those coefficients, course-keeping stability was analyzed. In addition, the PMM tests results carried out for the same KCS (KRISO container ship) were compared with our results in order to confirm the test validity.