• Proceeding of EDISON Challenge
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• 2013.04a
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• pp.13-24
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• 2013

Dopamine agonists and antagonists and its receptor play a critical role in the information transfer in the nervous system, and dopamine receptor-ligands interactions are deeply related to Parkinson's disease, schizophrenia and some other mental diseases. However, the only experimental 3D structure available for dopamine receptors is human D3 dopamine receptor. Therefore, it is important to create model of subtype dopamine receptor-ligands interactions. We report here the 3D structures of the human D1 and D2 dopamine receptor predicted by using GalaxyTBM, and its predicted binding site determined by using GalaxyDock. The highly conserved Asp on TM 3 and Phe on TM 6 have critical role in ligand binding. Also, highly conserved serines on TM 5 are essential for binding agonists and some kinds of antagonists. We identify differences between binding sites of agonists and antagonists of human D1 and D2 dopamine receptor, and find the reasons of selective binding of antagonists.

• Proceedings of the Korea Society for Simulation Conference
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• 1998.10a
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• pp.17-20
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• 1998

The purpose of this paper is to develop a port simulation program for Inchon Port. The arrival and departure data from Inchon Port are analyzed, several probability density functions for the interval time and service time are estimated, and the berthing rules are constructed based on experts experiences. The port simulation program is written in visual basic considering the interarrival p.d.f., service rate p.d.f., berthing rules, and dual-dock system, and is used to analyze the effects of the changes in ship arrival rate and service rate upon the demurrage. It is expected that we can use the simulation results in order to prepare proper service level and to evaluate the appropriate investment strategy to be planned.

• Journal of the Society of Naval Architects of Korea
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• v.55 no.1
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• pp.66-74
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• 2018

In order to evaluate the precision degree of the blocks on the dock, the shipyards recently started to use the point cloud approaches using the 3D scanners. However, they hesitate to use it due to the limited time, cost, and elaborative effects for the post-works. Although it is somewhat traditional instead, they have still used the electro-optical wave devices which have a characteristic of having less dense point set (usually 1 point per meter) around the contact section of two blocks. This paper tried to expand the usage of point sets. Our approach can estimate the rework time to weld between the Pre-Erected(PE) Block and Erected(ER) block as well as the precision of block construction. In detail, two algorithms were applied to increase the efficiency of estimation process. The first one is K-mean clustering algorithm which is used to separate only the related contact point set from others not related with welding sections. The second one is the Concave hull algorithm which also separates the inner point of the contact section used for the delayed outfitting and stiffeners section, and constructs the concave outline of contact section as the primary objects to estimate the rework time of welding. The main purpose of this paper is that the rework cost for welding is able to be obtained easily and precisely with the defective point set. The point set on the blocks' outline are challenging to get the approximated mathematical curves, owing to the lots of orthogonal parts and lack of number of point. To solve this problems we compared the Radial based function-Multi-Layer(RBF-ML) and Akima interpolation method. Collecting the proposed methods, the paper suggested the noble point matching method for minimizing the rework time of block-welding on the dock, differently the previous approach which had paid the attention of only the degree of accuracy.

• Journal of the Korea Society for Simulation
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• v.15 no.3
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• pp.61-67
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• 2006

This paper provides a systematic way of integrating human intelligence and autonomous precision of robots to achieve the highest possible performance of a cooperating robot system. Adjustable autonomy, which deals with the combination of human and robotic skills, has the potential to bridge the gap which leaves many tasks suited to robotics beyond the reach of existing technology. Especially we will show that relevant human assistance or intervention will increase system performance by improving the exception handling capability, simplifying autonomous operation, and boosting speed and reliability. To support the usefulness of our scheme, a series of experiments were conducted with three cooperating robots which work together to dock both ends of a long suspended beam into stanchions.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.65-71
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• 2007

Adjustable autonomy architecture provides various ways for a human operator to participate as a member of a human-robot team in improving the performance of the team by resolving issues that the robots cannot deal with or performing tasks that the robots alone would unable to do. According to the level of involvement of the human operator, the robots have to adjust their level of autonomy and, in consequence, the operation mode of the overall system shifts. This paper deals with the implementation issues of seamless switching when the level of autonomy of the human-robot team shifts from one level to another. Especially, we focus on developing reliable methods for monitoring the task progress and maximizing the system flexibility by coping with the detailed differences between humans and robots in their characteristics of motions and their choices of positions, paths, and sequences of sub-goals to achieve a given task. To test and motivate the proposed methods, we have assembled three heterogeneous robots which work together to dock both ends of a suspended beam into stanchions.

• IE interfaces
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• v.15 no.3
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• pp.230-240
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• 2002

Information technologies centered on the internet in the area of shipbuilding and marine engineering further incur the needs to increase the flexibility of the organization, the dispersion of work process, and the use of out sourcing, as well as the globalization of related market. In near future, electronic commerce and concurrent engineering based on CALS/EC and the Internet will be an integral part of the environment and upon these changes, ship design and construction will become a computer supported cooperative work of many dispersed and specialized groups. As the means of active response to these environmental changes, many new concepts such as digital shipbuilding, virtual shipyard, and simulation based design are appearing. In this paper, the concept and current status of digital manufacturing in general manufacturing industry will be reviewed. Then, related technologies, area of application and methods of digital manufacturing in shipbuilding and marine industries are presented. In addition, virtual assembly simulation system for shipbuilding(VASSS), a tool for crane operability and block erection simulation in virtual dock based on 3D product model, will be introduced.

• Journal of Ocean Engineering and Technology
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• v.17 no.2
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• pp.72-76
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• 2003

This paper presents the design concept and operation results of float-off for FSO (340,000 DWT Class, ELF AMENAM KPONO Project) built on the ground, without dry dock facilities. It was the first attempt to build FSO, completely, on the ground and launch it using DBU (Double Barge Unit, which was connected by rigid frame structure.) The major characteristics of FSO, which are similar to general VLCC type hull, including topside structure, weigh 51,000 metric ton. In order to have sufficient stability during the deck immersion of DBU, while passing through a minimum water plane area zone, proper trim control was completed with LMC (Load Master Computer). The major features of the monitoring system include calculation for transverse bending moment, shear force, local strength check of each connector, based on component stress, and deformation check during the load-out and float-off. Another major concern during the operation was to avoid damages at the bottom and sides of FSO, due to motion & movement after free-floating; therefore, adequate clearances between DBU and FSO were to be provided, and guide posts were installed to prevent side damage of the DBU casings. This paper also presents various measures that indecate the connector bending moment, damage stability analysis, and mooring of DBU during float off.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.89-93
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• 2003

The Korea Research Institute of Ships and Ocean Engineering (KRISO), the ocean engineering branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) to test underwater docking. This paper introduces the AUV model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. A small long baseline acoustic positioning system was developed to monitor and record the AUV's position for the experiment in the Ocean Engineering Basin of KRISO, KORDI. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the docking test of the AUV in near future.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Progress in Superconductivity and Cryogenics
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• v.25 no.3
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• pp.49-55
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• 2023

This paper presents the design of a re-liquefaction system as a BOG (boil-off gas) handling process in liquid hydrogen transport vessels. The total capacity of the re-liquefaction system was assumed to be 3 ton/day, with a BOR (boil-off rate) of 0.2 %/day inside the cargo. The re-liquefaction cycle was devised using the He-Brayton Cycle, incorporating considerations of BOG capacity and operational stability. The primary components of the system, such as compressors, expanders, and heat exchangers, were selected to meet domestically available specifications. Case studies were conducted based on the specifications of the components to determine the optimal design parameters for the re-liquefaction system. This encompassed variables such as helium mass flow rate, the number of compressors, compressor inlet pressure and compression ratio, as well as the quantity and composition of expanders. Additionally, an analysis of exergy destruction and exergy efficiency was carried out for the components within the system. Remarkably, while previous design studies of BOG re-liquefaction systems for liquid hydrogen vessels were confined to theoretical and analytical realms, this research distinguishes itself by accounting for practical implementation through equipment and system design.