• International Journal of Naval Architecture and Ocean Engineering
• /
• v.10 no.2
• /
• pp.188-200
• /
• 2018

This paper proposes a single control strategy to solve the problem of trans-media vehicle difficult control. The proposed control strategy is just to control the vehicle's air navigation, but not to control the underwater navigation. The hydrodynamic model of a vehicle when entering water obliquely at low speed has been founded to analyze the motion characteristics. Two methods have been used to simulate the vehicle entering water in the same condition: numerical simulation method and theoretical model solving method. And the results of the two methods can validate the hydrodynamic model founded in this paper. The entering water motion in the conditions of different velocity, different angle, and different attack angle has been simulated by this hydrodynamic model and the simulation has been analyzed. And the change rule of the vehicle's gestures and position when entering water has been obtained by analysis. This entering water rule will guide the follow-up of a series of research, such as the underwater navigation, the exiting water process and so on.

• Journal of Advanced Navigation Technology
• /
• v.16 no.4
• /
• pp.586-592
• /
• 2012

One approach of the control of a nonlinear system that has gained some success employs a fuzzy structure in cooperation with a neural network(ANFIS). The traditional ANFIS can only model and control the process in single-dimensional output nature in spite of multi-dimensional input. The membership function parameters are tuned using a combination of least squares estimation and back-propagation algorithm. In the case of a mobile robot, we need to drive left and right wheel respectively. In this paper, we proposed the control system architecture for a mobile robotic system that employs the 2-input 2-output ANFIS controller for trajectory tracking. Simulation results and preliminary evaluation show that the proposed architecture is a feasible one for mobile robotic systems.

• Journal of Navigation and Port Research
• /
• v.26 no.1
• /
• pp.8-14
• /
• 2002

The collisions of vessel at sea show high among the whole marine accidents. Especially, the accidents of fishing vessels take the largest portion of the collisions. Therefore, a technique to reduce these accidents should be developed. The automatic control for avoiding collision suggested in this study consists of two steps. The first is recognizing collision risk with fuzzy Theory and the other is maneuvering the model ship on the basis of collision risk calculated from the first step. The information form the position and estimated time of collision point(DCPA and TCPA) is used to assess the collision risk. To verify this system, a fishing vessel was simulated according to MMG mathematical model. The simulations result shows quite good application in avoiding the collision of ship.

• Journal of Navigation and Port Research
• /
• v.27 no.2
• /
• pp.193-198
• /
• 2003

The slew motion of a single point moored ship by the external forces is considered to control itself. The maneuvering equations of motion are derived to express the motion of a ship. The wind forces and the wave forces are considered as the external forces of the single point moored ship in the simulation. The wave forces in the time domain analysis are generated from the frequency transfer function calculated by 3-D source distribution method. The wind forces are used the results from OCIMF(1994). To control the slew motion, the bow thruster and the bridle anchoring with 2nd anchor are used in the numerical simulation.

• Journal of Navigation and Port Research
• /
• v.29 no.10 s.106
• /
• pp.839-845
• /
• 2005

A rudder roll control system is developed and analyzed to control the yawing and rolling motion of ship in irregular waves. The 4-DOF maneuvering equations of motion are derived to carry out the simulation of the motion of a ship and the wave forces are considered as the external forces of a ship in the simulation. The wave forces in the time domain analysis are generated from the frequency transfer function calculated by 3-D source distribution method. The rudder roll control system is developed by linear combination of PD rudder controllers of yawing and rolling motion. Rudder rate speed and Schilling rudder are considered to increase the roll reduction efficiency.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2005.10a
• /
• pp.55-61
• /
• 2005

A rudder roll control system is developed and analyzed to control yawing and rolling motion of ship in irregular waves. The 4-DOF maneuvering equations of motion are derived to carry out the simulation of the motion of a ship and the wave forces are considered as the external forces of a ship in the simulation. The wave forces in the time domain analysis are generated from the frequency transfer function calculated by 3-D source distribution method. The rudder roll control system is developed by linear combination of PD rudder controllers of yawing and rolling motion Rudder rate speed and Schilling rudder are considered to increase roll reduction efficiency.

• Journal of Navigation and Port Research
• /
• v.32 no.8
• /
• pp.589-596
• /
• 2008

In this paper, Artificial Neural Network(ANN) is applied to automatic berthing control for a ship. ANN is suitable for a maneuvering such as ship's berthing, because it can describe non-linearity of the system. Multi-layer perceptron which has more than one hidden layer between input layer and output layer is applied to ANN. Using a back-propagation algorithm with teaching data, we trained ANN to get a minimal error between output value and desired one. For the automatic berthing control of a containership, we introduced low speed maneuvering mathematical models. The berthing control with the structure of 8 input layer units in ANN is compared to 6 input layer units. From the simulation results, the berthing conditions are satisfied, even though the berthing paths are different.

• Journal of Advanced Navigation Technology
• /
• v.18 no.2
• /
• pp.178-184
• /
• 2014

CMOS technology based on PCA is very efficient at an implementation of memory or ALU. However, there has been a growing interest in quantum-dot cellular automata (QCA) because of the limitation of CMOS scaling. In this paper, we propose a design of PCA architecture based on QCA. In the proposed PCA design, we utilize D flip-flop and XOR logic gate without wire crossing technique, and design a input and rule control switches. In experiment, we perform the simulation of the proposed PCA architecture by QCADesigner. As the result, we confirm the efficiency the proposed architecture.

• Journal of Navigation and Port Research
• /
• v.41 no.6
• /
• pp.389-394
• /
• 2017

In this paper, the captive model test of a submarine using the RA test was carried out in a square basin. The target model submarine consisted of four types varying according to the position of conning tower and control planes. Hydrodynamic derivatives were acquired by multi-regression analysis. As a result, horizontal dynamic stability indexes of the four types presented positive values and satisfied dynamic stability requirements. In addition, the stability index of type 1 and type 4 - each with the same cruciform configuration of the aft planes - scored within the acceptable range of motion stability.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.1
• /
• pp.95-100
• /
• 2006

A ship collision avoidance system is developed to control the avoidance action of ship actually and properly in wind forces. The 4-DOF maneuvering equations of motion ar derived to catty out the simulation of the motion of a ship, and the wind forces are considered as the external forces in the simulation. This study suggests a new avoidance system that could include the ship's maneuvering characteristics.