• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.10a
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• pp.3-10
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• 2006

Recently it is coming to be hish reality on visual system in ship-handling simulator depending on the technical development of 3D computer graphics. Even with high reality, it is possible that visual information presented seafarers through screen or display is not equivalent to the real world. In docking maneuvering, visual targets or obstructs are sighted close to ship's operator or within few hundred meters, so it might be possible to affect visual information such as the difference between both eyes' and single eye's visual sight. Because it is not possible to perceive of very slow ship's movement by visual in case of very large vessels, so the Doppler Docking SONAR and/or Docking Speed and Distance Measurement Equipment were developed and applied for safety docking maneuvering. By the way, the simulator training includes the ship's maneuvering training in docking, but in Ship-handling Simulator and also onboard, there are some limitations of perception of ship's movement with visual information. In this paper, perception of ship's movement with visual system in Ship-handling Simulator and competition of performances of visual systems that are conventional screen type with Fixed Eye-point system and Mission Simulator. We got some conclusions not only on the effectiveness for visual system but also on the human behavior in docking maneuver.

• Journal of Ocean Engineering and Technology
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• v.22 no.4
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• pp.78-83
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• 2008

In recent years, small boats used for marine leisure have been steadily increasing because of the increase in national income and the desire for marine leisure. But the repair of such small boats in dry dock has pointed out many faults in small FRP-shipbuilding in terms if workspace and manpower. Lifting a boat from the water to land is done with a crane or by hand using a sling around the bottom of the boat. But dry dock work is limited by the scale of the boat, which corresponds to the crane capacity, with carelessness making it possible to capsize a boat and endanger life. The purpose of this study was the development of a marine docking system that would improve economical efficiency and safety, for which we carried out concept design, model tests, structural analysis, etc.

• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.208-213
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• 2016

This paper proposes a potential field-based guidance law for docking a USV (unmanned surface vehicle). In most cases, a USV without side thrusters is an under-actuated system. Thus, there are undockable regions near docking stations where a USV cannot dock to a docking station without causing a collision or backward motion. This paper suggest a guidance law that prevents a USV from enter such a region by decreasing the lateral error to the docking station at the initial stage of the docking process. A Monte-carlo simulation was performed to validate the performance of the proposed method. The proposed method was compared to conventional guidance laws such as pure pursuit guidance and pure/lead pursuit guidance. As a result, the collision angle and lateral distance error of proposed method tended to have lower values compared to conventional methods.

• Journal of Aerospace System Engineering
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• v.18 no.2
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• pp.47-55
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• 2024

The paper presents a docking-type automatic landing system that works in tandem with Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs). The system utilizes a pyramid-shaped landing gear and pad for effective landing. In marine environments, a docking device guides the drone to land securely. To test the system, a ship's behavior was simulated using a 3-DoF motion platform, and the successful operation and utility of the docking-type automatic landing system were demonstrated.

• Journal of Ocean Engineering and Technology
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• v.35 no.4
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• pp.305-312
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• 2021

There is a gradual increase in the need for energy charging in marine environments because of energy limitations experienced by electric ships and marine robots. Buoys are considered potential energy charging systems, but there are several challenges, which include the need to maintain a fixed position and avoid hazards, dock with ships and robots in order to charge them, be robust to actions by birds, ships, and robots. To solve these problems, this study proposes a smart buoy robot that has multiple thrusters, multiple docking and charging parts, a bird spike, a radar reflector, a light, a camera, and an anchor, and its mechanism is developed. To verify the performance of the smart buoy robot, the position control under disturbance due to wave currents and functional tests such as docking, charging, lighting, and anchoring are performed. Experimental results show that the smart buoy robot can operate under disturbances and is functionally effective. Therefore, the smart buoy robot is suitable as an energy charging system and has potential in realistic applications.

• Journal of Advanced Research in Ocean Engineering
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• v.2 no.3
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• pp.150-157
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• 2016

When blocks are supported on a dock, huge reaction forces concentrated at the supports cause structural damage owing to local stress concentrations. Thus, the supports should be arranged to avoid local failure from the reaction forces by redistributing those forces. Docking analyses to determine the proper blocks and their support arrangements are introduced so that the local stresses are minimized to warrant the safety of the docking supports. Local stresses enforced by the support arrangement should be evaluated by finite element analysis (FEA). However, it is difficult to consider an accurate 3D geometry of the blocks in the finite element model because the structural design information is too complicated to determine within several days using the FEA model. This paper presents a simplified FE model to evaluate the safety of the arrangement of supports using a simplified grillage element. The grillage element can be efficiently used to obrain the reaction forces in docking analysis becasuse the reaction forces at the supports are enough to assess the safety of block. Since a simplified grillage model of the entire ship cannot accurately calculate the local stresses, an optimized modeling method based on the grillage element was introduced. The local reaction forces obtained by the proposed approach and three-dimensional FEA were discussed for typical types of ships. It is shown that the reaction forces obtained by the present grillage model are in reasonably good agreement with the FEA model.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.3
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• pp.129-137
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• 2013

Each owner or operator of offshore products uses a maintenance management system like CMMS(Computerized Maintenance Management System) in order to manage their assets effectively and efficiently for a long time. But most of maintenance management systems have been focused on machinery items, not on 'Hull' until now. On the other hand, classifications like ABS, DNV, GL are having a sale on hull inspection and maintenance system for ships and an interest in hull maintenance system is increasing because of the application of EDD(Extended Dry Docking). This paper discusses the concept, inspection process and the practical application of Hull maintenance for Semi-submersible drilling rig to extend the service life and run a stable operation.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.5
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• pp.383-389
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• 2016

In this paper, we present the hull blasting machine with vision-based weld bead recognition device for cleaning shipment exterior wall. The purpose of this study is to introduce the mechanism design of the high efficiency hull blasting machine using the vision system to recognize the weld bead. Therefore, we have developed a robot mechanism and drive controller system of the hull blasting robot. And hull blasting characteristics such as the climbing mechanism, vision system, remote controller and CAN have been discussed and compared with the experimental data. The hull blasting robots are able to remove rust or paint at anchor, so the re-docking is unnecessary. Therefore, this can save time and cost of undergoing re-docking process and build more vessels instead. The robot uses sensors to navigate safely around the hull and has a filter system to collect the fouling removed. We have completed a pilot test of the robot and demonstrated the drive control and CAN communication performance.