• Journal of Navigation and Port Research
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• v.31 no.3 s.119
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• pp.223-228
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• 2007

In recent trends of the enlargement and specialization, container ship, LNCG, PCC and passenger ship which have relatively large hull and superstructure above the water line, are already being operated in the world It is very important information for the safety operation of these vessels to estimate the ship's performance under the specific wind condition while berthing, unberthing or low-speed sailing. In this paper, the effect of wind force and moment acting on the training ship HANNARA is investigated by using the numerical calculations. The results of drift angle and counter rudder angle with the relative wind direction and force, the critical wind velocity with the ratio of wind velocity and ship's speed and maximum heeling angle with the wind velocity are shown The presented results can be applied directly to T/S HANNARA in berthing maneuver and avoiding typhoons, and utilized as an educational materials.

• Journal of the Korean Society of Marine Environment & Safety
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• v.30 no.2
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• pp.209-216
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• 2024

Four accidents occurred between 2020 and 2022 after car ferries built according to a coastal passenger ship modernization plan collided with other ships or came into contact with the dock when entering Jeju Port. Accidents primarily occurred owing to careless ship handling and drift by wind during ship handled by herself using bow and stern thrusters without tugboats. Accordingly, in this study, we analyzed the collision accident focusing on car ferry H and the critical wind speed at which the ship cannot be controlled using its own power, tugboat operation plan in increasing wind speed were proposed based on the power required for the ship to berth parallel to the pier without a tugboat considering the external force and moment generated while the ship is berthing. A analysis of the critical wind speed of car ferry H by relative wind direction when using tugboats or not according to the loading status and the berthing speed, showed that one tugboat should be used at the stern when the lateral wind speed is over 10 m/s and two tugboats should be used when the lateral wind speed is over 14m/s berthing at Jeju port.

• Journal of Navigation and Port Research
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• v.33 no.9
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• pp.603-608
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• 2009

In this paper, a 3m-class free running model ship will be introduced with its manoeuvring performance experiments. The results of turning circle test and zig-zag test will be explained. The developed system are equipped with GPS, main control computer, wireless LAN, IMU (Inertial Measurement Unit), self-propulsion propeller and driving rudder. Its motion can be controlled by RC (Radio Control) and wireless LAN from land based center. Automatic navigation is also available by pre-programmed algorithm. The trajectory of navigation can be acquired by GPS and it provides us with important data for ship's motion control experiments. The results of manoeuvring performance experiment have shown that the developed free running model ship can be used to verify the test of turning circle and zig-zag. For next step, other experimental researches such as ship collision avoidance system and automatic berthing can be considered in the future.

• Proceedings of KOSOMES biannual meeting
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• 2017.11a
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• pp.104-105
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• 2017

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.869-874
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• 2011

This paper addresses the trajectory tracking problem for ship berthing by using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and robust performance with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

• Journal of Navigation and Port Research
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• v.31 no.5 s.121
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• pp.325-332
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• 2007

This study develops a control algorithm on berthing/unberthing system using a joystick for ships with thrusters and a rudder. A nonlinear mathematical model for low speed maneuvering of typical container ships is used to develop a MIMO(multi-input multi-output) nonlinear control algorithm for velocity feedback joystick control. Also a virtual HILS(hardware in the loop simulation) software program for berthing/unberthing is developed to test the performance of the nonlinear and a PID control algorithm. The program is developed using LabWindow/CVI, and a user can see current position and desired trajectory of ship in a monitor, then he can control forward and yaw velocities of a ship using a joystick. The simulation results show that the nonlinear mfd the PID controller have superior performance over a simple open loop joystick control algorithm.

• Proceedings of the Korean Society of Fisheries Technology Conference
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• 2010.05a
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• pp.99-102
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• 2010

• Journal of Navigation and Port Research
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• v.45 no.3
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• pp.87-94
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• 2021

The IMO has adopted emission standards that strictly restrict the use of bunker C oil for vessels. Accordingly, research and bunkering pilot projects for LNG fueled ships are being actively carried out, which is expected to substantially reduce environmental pollution. In this study, we have adopted the turret moored Floating LNG Bunkering Terminal (FLBT) designed to receive the LNG from LNGCs and to transfer LNG to LNG bunkering shuttles in ship to ship moored condition. Numerical simulations have been performed with a 1-year return period of wind, wave, and current. Damping values of numerical model were adjusted from the results of model tests to obtain accurate simulation results. The results confirm safe berthing operation during the 1-year return period of environmental condition. Safety depends on the direction of environment, with increasingly stable operation facilitated by the application of heading-control function of FLBT to avoid beam-sea conditions.

• Proceedings of KOSOMES biannual meeting
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• 2002.10a
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• pp.111-124
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• 2002

Ship manoeuvring simulator has been widely utilized for training mariners, for assessing safety, for developing harbour and port, and for designing ships. We discuss a ship manoeuvring simulator which has been newly developed by Korea Maritime University. The simulator consists of simulator bridge and control console. All the computers used in the simulator are connected with one another by UDP or TCP network system. All the instruments are connected with interface computer by signal line which is controlled by RS232 communication protocol, or by voltage controlled A/D board. Next the mathematical model of ship manoeuvring motion in harbour areas, and ship and terrain modeling technique are also briefly discussed. Finally using the simulator an experiment of distance cognition and a simulation example of berthing/deberthing manoeuvre are shown.

• Journal of the Korean Society of Marine Environment & Safety
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• v.3 no.S1
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• pp.55-73
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• 1997

It is well known that simulation study in the preliminary design stage of harbors or berths is of great use, since it can provide helpful informations to the designer from the view point of ship navigations. In this paper, a brief review is made in the safety assessment of ship navigation for a 320,000 DWT VLCC entering Yecocheon harbor area, which is carried out by shiphandling simulator system. The geographic data base for the harbor as well as the mathematical models of the ship and environmental effects are designed and developed. Based in the on-site inspections and interviews with pilots in Yeocheon area, basic maneuvering plans and consistence with real operation conditions. Berthing and deberthing maneuvering simulations as well as approaching and departing simulations are carried out by 3 experienced navigators according to the maneuvering plans and environmental scenarios. The simulation results are analysed in various ways to evaluate the quantitative and qualitative maneuvering difficulties and thereby to assess the safety of ship navigation in that area.