• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.48-57
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• 2022

In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and winds, the aircraft has risks being overturned by contact impact and excessive inclination during landing on the ship. This landing platform has four landing legs under the quadcopter for balancing and shock relief. In order to make the quadcopter balanced on ships, the position of each end effector was controlled by PID control. And shocks have mainly happened when quadcopter contacts the ship's surface as well as legs move fast. Hence, impedance control was used to cope with the shocks. The performance of the landing platform was demonstrated by a simulation and a prototype in three sea states based on a specific size of a ship. During landing and tracking the slope of the ship's surface, oscillations of rotation and translation from the shock were mitigated by the controller. As a result, it was verified that transient response and stability got better by adding impedance control in simulation models and prototype experiments.

• Journal of Navigation and Port Research
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• v.29 no.10 s.106
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• pp.821-826
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• 2005

The traffic volume will be increased and the traffic of larger vessel could be multiplied in the Pohang port by the opening of the Young-il new port in 2006. Unfortunately, however, potential danger factors to the safe navigation, disordered navigation and traffic congestion are still existing in the Pohang port and approaching waters. This paper describes the status of marine traffic flow and navigational characteristics based on the marine traffic survey using the exclusive software, and the results of marine traffic survey classify into ship's type, size and track history of passing ships through the statistical methods. Finally the examinations of marine traffic route, traffic flow and navigational characteristics are discussed. These results can be used for the best design of ship's routing at the Pohang waters.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.1
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• pp.191-200
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• 2000

The marine accident is being highlighted as a serious worldwide problem for the guard station of human safety and the protection of marine environment pollution. Especially, the GMDSS is operated as a international rule for the safety of a large scale ship, but the small size ship's management is required a adaptive national rule because of the complex condition of national circumstance. This study is motivated to develop a ship's position tracking system combined with GPS information for VTS and control the ship navigation, velocity and longitude etc.. In Part of Navigation Data Transmission is GPS data transmission whih ship's ID using microprocessor and TX speed translation for flexibility with 4800∼2400 [bps]. Results show that the our system for data transmission using microprocessor is useful tool in maritime transmission as SSB used the main TX method of small ship and has a cost competitive power. Therefore, we will expected cost and technical competitive power compared to AIS. But those systems are still remained the unsolved problem for protection from marine accident.. Finally, we examined the semi-actual receiving state on simulated sailing in the around sea of Mok-Po harbor.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.9B
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• pp.1314-1321
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• 2010

This system configures a position Sensor as installing on the ship and a guidance system docking of ship what distinguish of the ship about the use and size. The maintain system is received the result of distinction via UWB reader. This system send a information of ship of docking position to user. Thus it suggests the safety to prevent from crash among ships and saves energy and stop waste. The proposed system periodically updates the information of docking position of the ship and monitors in real-time according to the user's request from personal mobile devices. In this paper, we implement of a guidance system Testbed for docking of the ship using position UWB sensor. And user is provided convenience to find easily user's ship in docking area through user interface with Java. Addedly it is possible to prevent ship theft.

• Journal of Navigation and Port Research
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• v.28 no.7
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• pp.609-617
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• 2004

The total tug capacity needed for berthing/unberthing operations of a ship may vary depending on the ship's type, size, loading conditions, and environmental circumstances. Traditionally, total tug capacity is determined based on the local guidelines of port authorities or on the rule of thumb. However, the social demands for the enhancement of ship safety at harbor and the economical demands for the cost-effectiveness of tug usage makes it necessary for port authorities to develop more reasonable and detailed guidelines on tug usage which takes various conditions into account. In this paper, the method to estimate the optimum tug capacity of VLCC is suggested by considering various ship conditions such as its size, loading conditions, and environmental circumstances including wind, wave, tidal currents, and geographical characteristics of a terminal. This method is applied to the VLCC terminal located in Gwang-Yang harbor of Korea and the results are compared with the local guidelines of the harbor, which shows that there may be a room for the amendment of local guidelines on tug usage.

• Journal of the Korean Institute of Navigation
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• v.12 no.1
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• pp.71-84
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• 1988

For traffic proceeding in random directions on a plane surface the frequency of collision, if no avoiding action in taken ,is approximately proportional to the square of the traffic density and directly proportional to the size and speed of the ship, Avoiding is normally taken and the rte of collisions is therefore also governed by additional factors such as the visibility, the effectiveness of the collisionavoidance rules, the competence of personnel or watchkeeping attitude, the maneuverability of the ship and the efficiency of radar and other equipments. From the viewpoint of watchkeeper who is responsible for maneuvering, watchkeeping attitude such as lookout and action to avoid collision is the most controllable factor among those mentioned above. In practice, according to the investigation of the institution of marine courts, about 50% co collisions occurred is caused by disorbedience to steering and sailing rules of international regulations for preventing collision at sea including lookout. So we classify the process of collisions with first sight of another ship , assessment of risk of collisions and action to avoid collisions and make a factural survey about lookout and action to avoid collisions from the point on "time" and " distance", namely relationship among ship's size, speed, first sight time of another ship, action to avoid collisions ,and distance from sight of another ship to collision occurred. According to the results of the actual survey , we come to conclude that most of collisions occurred are due to improper lookout and ineffective action to avoid collision which means time lag from first sight of another ship to time of action taken to avoid collision is relatively long. is relatively long.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.3
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• pp.259-268
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• 2019

Even if only two ships are encountered, a collision may occur due to the mistaken judgment of the positional relationship. In other words, if an officer does not know a target ship's intention, there is always a risk of collision. In this paper, the experiments are conducted to investigate how the intention affects the action of collision avoidance in cooperative and non-cooperative situations. In non-cooperative situation, each ship chooses a course that minimizes costs based on the current situation. That is, it always performs a selfish selection. In a cooperative situation, the information is exchanged with a target ship and a course is selected based on this information. Each ship uses the Distributed Stochastic Search Algorithm so that a next-intended course can be selected by a certain probability and determines the course. In the experimental method, four virtual ships are set up to analyze the action of collision avoidance. Then, using the actual AIS data of eight ships in the strait of Dover, I compared and analyzed the action of collision avoidance in cooperative and non-cooperative situations. As a result of the experiment, the ships showed smooth trajectories in the cooperative situation, but the ship in the non-cooperative situation made frequent big changes to avoid a collision. In the case of the experiment using four ships, there was no collision in the cooperative situation regardless of the size of the safety domain, but a collision occurred between the ships when the size of the safety domain increased in cases of non-cooperation. In the case of experiments using eight ships, it was found that there are optimal parameters for collision avoidance. Also, it was possible to grasp the variation of the sailing distance and the costs according to the combination of the parameters, and it was confirmed that the setting of the parameters can have a great influence on collision avoidance among ships.

• Bulletin of the Society of Naval Architects of Korea
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• v.1 no.1
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• pp.9-16
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• 1964

As a pre-study for researches on powering characteristics of straight-framed V-bottom hull forms for usual commercial vessels, practicability of such a hull is investigated from viewpoints of over-all ship economy. For this purpose, a trawler hull of straight-elements with double chines, SV(T)-1, similar to Prof. Nevitt's W-8 in size and hull form coefficients was designed and tested at the SNU Ship Model Towing Tank for resistance measurements. The result is given in Fig.3 together with those of W-8 and other equivalent hulls of double curvature, such as FAO 135a-173, Doust and Takgi. The curves of the latters are reproduction of Prof. Nevitt's analysis, and given for comparison purpose. With in speed range of $9.0{\sim}10.5$ konts the resistance coefficients of SV(T)-1 are $18{\sim}25%$ higher than those of W-8, and $5{\sim}20%$ and $12{\sim}14%$ higher than those of FAO 135a-173 and Doust respectively. SV(T)-1, however, is slightly superior in resistance characteristics than Takagi's equivalent hull within the speed range. On the other hand, an equation for reduction rates of hull construction cost required to compensate for propulsion power increase in straight-elements hulls was derived from the definition of the economic efficiency of commercial vessels. The solution of the equation is given in Fig.4 graphically, from which it is known that $10{\sim}20%$ increase in propulsion power can be compensated by $8{\sim}16%$ reduction in hull construction cost. Considering simplicity and less equipments required in construction of straight -elements hulls, the author does argue for attainability of the above reduction rates in hull construction cost. Consequently, it is concluded that there is clear feasibility to adopt straight-elements hulls for usual commercial vessels of medium and small-size. And a further research will be done to obtain reliable data for chine shapes having good flowliness with the flow around ships depending on ship's size and speed.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.06b
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• pp.301-307
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• 2006

As container traffic in the world increases rapidly, size if containership is become bigger and bigger. With these trends, many studies have. been done on such big ships by consultant, naval architects, port designers, ship operators, economists etc,. with different points of view and results. But previous studies were concentrated on hardware and theoretical side. Therefore the objective of this paper is to analyze response and intention of ship's user such as shipping companies and forwarding companies about prospects of mega-ship size, preference of Mega ship, problem and handling time of Mega ship.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.261-267
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• 2006

The required storage inventory is a very important decision variable which determines the storage capacity of a container terminal. Generally, the required storage inventory is dependent upon such factors as ship headway, allowable dwell time of containers, loading/unloading time per ship, and so on. Until now, the required storage inventory is estimated under the assumption that the factors are deterministic in several studies. However, this study proposes how to estimate a required storage inventory satisfying the required service level under the assumption that a containership's load size is probabilistic. Numerical experiments, which use a simulation show that the proposed method can estimate more adequately the maximum storage inventory than other methods under a probabilistic environment.