• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.172.5-172
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• 2001

Target Motion Analysis(TMA) for Passive Sonar Systems with bearing-only measurements needs to enhance system observability to improve target tracking performance by ownship maneuvering. However, tracking problem incurred by weak observaility result in slow convergence of the target estimates. On the other hand, active sonar systems do not have problem associated with system observaility. However, it drawback related to system survivability. In this paper, the algorithm that could be used in Active/passive Mixed-Mode Sonar Systems is proposed to analyze maneuvering target motion and to improve TMA performance. The proposed TMA algorithm is tested by a series of computer simulation runs and the results ...

• Journal of the Society of Naval Architects of Korea
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• v.45 no.5
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• pp.495-501
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• 2008

Samsung Heavy Industries (SHI) and NRC's Institute for Ocean Technology (IOT) collaborated on a project to predict the performance of a new design for a Suezmax size tanker that had acceptable open water performance but was also capable of operating in ice. The resulting hull form was a single screw, single rudder design with a bulbous bow, modified for operation in ice. An important design consideration is the ability of the ship to maneuver in different ice conditions. This paper presents the results of maneuvering experiments in pack ice and level ice, using a free running model.

• Journal of the Korean Society of Marine Environment & Safety
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• v.3 no.S1
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• pp.55-73
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• 1997

It is well known that simulation study in the preliminary design stage of harbors or berths is of great use, since it can provide helpful informations to the designer from the view point of ship navigations. In this paper, a brief review is made in the safety assessment of ship navigation for a 320,000 DWT VLCC entering Yecocheon harbor area, which is carried out by shiphandling simulator system. The geographic data base for the harbor as well as the mathematical models of the ship and environmental effects are designed and developed. Based in the on-site inspections and interviews with pilots in Yeocheon area, basic maneuvering plans and consistence with real operation conditions. Berthing and deberthing maneuvering simulations as well as approaching and departing simulations are carried out by 3 experienced navigators according to the maneuvering plans and environmental scenarios. The simulation results are analysed in various ways to evaluate the quantitative and qualitative maneuvering difficulties and thereby to assess the safety of ship navigation in that area.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.539-546
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• 2007

The important field of research in ship operation is related to the high efficiency of transportation, the convenience of maneuvering ships and the safety of navigation. For these purposes, many intelligent technologies for ship automation have been required and studied. In this paper, we propose an intelligent voice instruction-based learning (VIBL) method and discuss the building of a ship's steering control system based on this method. The VIBL system concretely consists of two functions: a text conversion function where an instructor's inputted voice is recognized and converted to text, and a linguistic instruction based learning function where the text instruction is understood through a searching process of given meaning elements. As a study method, the fuzzy theory is adopted to build maneuvering models of steersmen and then the existing LIBL is improved and combined with the voice recognition technology to propose the VIBL. The ship steering control system combined with VIBL is tested in a ship maneuvering simulator and its validity is shown.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.51 no.1
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• pp.61-70
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• 2015

In an attempt to improve the maneuvering character of hull form renovated tuna purse seiner. A renovation was carried out on the 3 tuna purse seiner fishing vessel. To grasp the progress of maneuvering and resistance on ship B (730 ton class), new bulbous bow was only attached. The ship A (740 ton class) and C (600 ton class) were modified for new bulbous bow, enlarged slipway and rudder. And then the zigzag and the turning test were carried out. According to the turning test, the advance and the tactical diameter were improved very much for the modified ship. The sea trial was carried out for the original and modified ship A. It is showed that the results of sea trial corresponded with that of the tank test on the whole. In the result of the zigzag test on ship B, the turning ability was improved very much, but the yaw checking ability was deteriorated in just some degree. In the result of the zigzag test on ship C, the turning ability and yaw checking ability were remarkably improved. Ship C was greatly improved among the three ships for the maneuvering character of modified hull form.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.6
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• pp.429-435
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• 2013

Recently, to improve the safety and maneuverability at fairway around harbor the POD system has been equipped on a ship. And the interest about maneuvering characteristics of a cruise ship has been increasing. In this paper the mathematical model of maneuvering motion of a cruise ship with twin POD system in general speed and slow speed are presented. And the maneuvering coefficients of mathematical model are obtained from the captive model tests using CPMC(Computerized Planar Motion Carriage). Computer simulation using mathematical model in general speed and slow speed are carried out and compared with the results of free running model test with the same model ship. The differences between the mathematical models are compared and discussed. In this paper the mathematical models, the results of captive model test and simulation results are presented.

• Journal of the Korea Institute of Military Science and Technology
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• v.7 no.4 s.19
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• pp.5-12
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• 2004

The tracking algorithm based on the interacting multiple model(IMM) requires a considerable number of sub-models for the various maneuvering targets in order to have a good performance. But it is not feasible to use the nm algorithm in the real system because of the computational burden. Therefore, we need an algorithm which requires less computing resources while maintaining a good performance. In this paper, we propose a fuzzy interacting multiple model algorithm(FIMMA) for the tracking of maneuvering targets, which uses a minimal number of sub-models by considering the maneuvering properties and adjusts the mode transition probabilities by using the mode probability as a fuzzy input. In order to verify the performance of FIMMA, the developed algorithm is applied to the tracking of i borne targets. Simulation results show that the FIMMA is very effective in the tracking of maneuvering targets.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.3
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• pp.240-249
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• 2013

This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving, steering, vehicle stability, and fault tolerant control. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force. The fault tolerant control algorithm is applied to obtain the similar maneuverability to that of the non-faulty vehicle. The simulations using the Matlab/Simulink dynamics model and experiments using HIL simulator mounting the real controllers with the designed control algorithms prove the improved performances in terms of vehicle stability and maneuverability.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.855-861
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• 2007

In real system application, the IMM-based position tracking algorithm requires robust performance, less computing resources and easy design procedure with respect to the uncertain target maneuvering, To solve these problems, an adaptive fuzzy interacting multiple model (AFIMM) algorithm, which is based on the well-defined basis sub-models and well-adjusted mode transition probabilities (MTPs), is proposed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application of the IMM-based position tracking algorithm.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.1 s.145
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• pp.50-58
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• 2006

Free running model tests gives us only maneuvering indices not hydrodynamic derivatives. For this reason, system identification method has been applied to the measured data to identify mathematical model describing hydrodynamic force. However It is difficult to obtain complete set of maneuvering derivatives because of strong correlation of sway velocity and yaw rate. Therefore, in this paper, we assumed that sway velocity related coefficients would be obtained by oblique towing test. and then proposed new procedure to estimate yaw related coefficients. To do this, correlation and regression analyses were carried out to establish modified model and estimate maneuvering derivatives. Also D-optimal rudder input scenario was found based on the modified model and confirmed the validity of its sufficient richness as a input scenario.