• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1332-1335
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• 1996

It is very important to predict the future position for the heavy vehicle with evasive maneuvering. In this paper, we considered for the manual image tracking system. The vehicle images are received from gyro stabilized mirror system, pass through the optical lens, processed, and displayed on the TV monitor. The operator try to lay the reticle to the center of vehicle image. When the vehicle is moving, the mirror platform (actually the line of sight) should follow the vehicle and the angular rate information is picked up from the mirror stabilized system. This rate signal should be used to predict the future vehicle position. The problem is that the visual system of the human operator is in the closed loop system. The rate signals are disturbed by the operator. In addition, there are some non linearities concerned with the control handle bar and the servo control system. The proposed Kalman filter, combined with some modifications for operator disturbance rejection, improved the predication of the future vehicle position when compared with the conventional passive filter used.

• Journal of the Korean Society of Marine Environment & Safety
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• v.17 no.4
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• pp.383-389
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• 2011

At the design stage, it is very important to know the ship maneuvering characteristics from the view point of ship performance and for the safety of navigation. IMO only gives some criteria for ships in full load even keel condition. However, the ship generally is operated not only in full load condition but also in half load condition or ballast condition. Therefore we must estimate the ship maneuvering in different loading condition to ensure that the ship will satisfy with IMO rules and navigate safely in every condition. In this paper, we have investigated the maneuvering characteristics of a ship by simulation and experiments with real ship. By comparing with the results of simulation, the real ship tests conform with simulation test and previous researches. Therefore, the method base on real data is well done to estimate the ship maneuvering in different loading conditions. The change of ship's manoeuverability accoriding to ship's operation conditions was estimated.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.5
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• pp.28-33
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• 2004

Generally Horn-type rudders have been used for single propeller and single rudder system. The reason is that the rudder torques of Horn-type rudder are smaller than those of Spade rudder with same lift force. But it is found that the rudder cavitation occurs on a Horn-type rudder of fast container ship. In this paper the comparison results of Horn-type and Spade rudders are described. HPMM tests are carried out to compare the effects of two rudder types on the maneuverability of a ship. It is shown that the maneuvering performance of a ship equipped with Horn-type rudder is better than that equipped with Spade rudder by comparing the test results and maneuvering coefficients at scantling condition. The reason is that the movable part area of Horn-type rudder is about 14％ larger than that of Spade rudder with same total area. And the rudder torque of Spade rudder is greater than that of Horn rudder. At ballast condition, however, the effect of rudder type is negligible.

• Journal of Korea Ship Safrty Technology Authority
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• s.23
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• pp.78-97
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• 2007

SPM, which is an abbreviation of Single Point Mooring, also called as SBM(Single Buoy Mooring), is a special buoy besides the quays of the harbor for mooring ships, and is normally a 3m wide cone or cylinder shaped steel drum fixed underwater so it won't move, and is used for mooring cargo-work at outer port by laid-up ships and large crude oil carrier. The work of VLCC SPM mainly is accomplished on the open sea. On the open sea as a result of meteorological condition and the ocean wave influence, When the weather condition is get bed, peremptorily moving to the safety place, because of the gale and the billow, almost happened frequently, the pilot is unable to go on board and the tug is also unable to be used Now because of the bad weather the VLCC SPM moving to the other safety place frequently happened in the ulsan port. the construction of new harbor, it constructed many break water around SPM. So that it is necessary to propose the new standard about how to maneuvering area actually. The standard for handling ranges of the SPM operations was tested and verified by a simulation.. So that it is necessary to propose the new standard about how to maneuvering area actually.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.419-422
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• 2005

In this note, the Takagi-Sugeno (T-S) fuzzy-model-based state estimator using standard Kalman filter theory is investigated. In that case, the dynamic system model is represented the T-S fuzzy model with the fuzzy state estimation. The steady state solutions can be found for proposed modeling method and dynamic system for maneuvering targets can be approximated as locally linear system. And then, modeled filter is corrected by the fuzzy gain which is a fuzzy system using the relation between the filter residual and its variation. This paper studies the T-S fuzzy model-based state estimator which the dynamic system can be approximated as linear system.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.6
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• pp.748-753
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• 2005

When the maneuver occurs, the performance of the standard Kalman filter has been degraded because mismatches between the modeled target dynamics and the actual target dynamics. To solve this problem, the unknown acceleration is determined by using the fuzzy logic based on genetic algorithm(GA) method. This algorithm is the method to estimate the increment of acceleration by a fuzzy system using th relation between maneuver filler residual and non-maneuvering one. To optimize this system, a GA is utilized. And then, the modified filter is corrected by the new update equation method which is a fuzzy system using the relation between the filter residual and its variation. To shows the feasibility of the suggested method with only one filter, the computer simulations system are provided, this method is compared with multiple model method.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2702-2704
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• 2005

This paper proposes the genetic algorithm (GA)-based fuzzy modeling method for intelligent tracking of a maneuvering target. When the maneuvering to turn or taking evasive action, the performance of the standard Kalman filter has been degraded because residual between the modeled target dynamics and the actual target dynamics. To solve this problem, the state prediction error is minimized by the intelligent estimation method. Then, this filter is corrected by measurement corrections which is the fuzzy system. The performance of the proposed method is compared with those of the input estimation(IE) technique through computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.759-762
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• 1996

In previous work Kwon and Yoo [5] have shown that the FIR tracking algorithm using the input estimation technique. However, it has not solved the problem of systems with parameter uncertainties. Therefore, in this paper we propose a new robust $H_{\infty}$ FIR tracking filter to solve the target tracking problems under systems with parameter uncertainties. Also, we use here the input estimation approach to account for the possibility of maneuver. Simulation results show that the robust $H_{\infty}$ FIR tracking filter proposed here still has good tracking performance for a maneuvering target tracking problem even under all system parameter uncertainties.

• Journal of the Korean Society for Marine Environment & Energy
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• v.2 no.1
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• pp.90-101
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• 1999

This paper is concerned with the design of automatic ship maneuvering system including automatic path tracking controller and automatic berthing controller. The optimal control technique is employed to design the automatic path tracking controller, which is based on the linearized equations of ship motion. The numerical example shows that the automatic path tracking controller is capable of tracking the line between way points which are determined by pilot a priori. The decentralized control technique is employed to design the automatic berthing controller. In addition to the automatic path tracking controller, the fuzzy logic controller is used to control the forward speed. The numerical example shows that the automatic berthing controller can be successfully implemented.

• Journal of Advanced Navigation Technology
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• v.7 no.2
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• pp.217-226
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• 2003

Recently Lim has proposed a linear, recursive, unbiased minimum variance filter for a maneuvering target based on the maneuver dynamics modeled as a jump process of Poisson-type. In the proposed filter it was assumed that the state transition parameters of the jump used for target maneuver modeling are a priori known to the filter. However, in most cases they are not known in practice. In this paper, we consider the influence of system (target) modeling error on the performance of the proposed tracking filter arising from the maneuver tracking. For qualitative analysis Monte-Carlo simulations are carried out against employing the maneuver model with different state transition parameters from the actual values.