• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.8
• /
• pp.971-980
• /
• 2010

In this paper, we present a navigation control algorithm for mobile robots that move in environments having static and moving obstacles. The algorithm includes a global and a local path-planning algorithm that uses $D^*$ search algorithm, a fuzzy logic for determining the immediate level of danger due to collision, and a fuzzy logic for evaluating the required wheel velocities of the mobile robot. To apply the $D^*$ search algorithm, the two-dimensional space that the robot moves in is decomposed into small rectangular cells. The algorithm is verified by performing simulations using the Python programming language as well as by using the dynamic equations for a two-wheeled mobile robot. The simulation results show that the algorithm can be used to move the robot successfully to reach the goal position, while avoiding moving and unknown static obstacles.

• Journal of the Society of Naval Architects of Korea
• /
• v.48 no.3
• /
• pp.246-253
• /
• 2011

This paper presents estimation of deterministic damage extents and locations due to collision and grounding which are defined by ABS guideline and DNV ship rules. It is noted that the overall extents of damages from DNV are larger than those from ABS. Nonlinear FEAs are carried out to predict residual longitudinal strength of hull girder with asymmetric severe damages. The accuracy of the applied FEA procedure is proved by comparing FEA result with test result of a 1/3-scaled frigate. The investigated vessels are a VLCC and a large-sized bulker for which evenly distributed heeling angles from $0^{\circ}$(sagging) to $180^{\circ}$(hogging) by $30^{\circ}$ due to damage-induced flooding are taken into account. The reduction ratios of the ultimate residual strength for the damaged cases to those for the intact sagging case are shown. It is proved that the grounding damage case under DNV assumption reveals most critical the residual strength. The design formulas are presented to assure minimum residual ultimate moment after damage.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.7B
• /
• pp.868-877
• /
• 2011

In this paper, the feasibility of ORBCOMM satellite-based automatic identification system (SAT-AIS) is evaluated in the context of ship AIS slot collision probability depending on reporting rate, We evaluate detection probability evaluation of ORBCOMM satellite-based AIS considering link budget, SOTDMA protocol and satellite's swath width. The simulation determines the total number of vessels served by ORBCOMM satellite according to satellite's swath width, AIS slot allocation and reporting rate. By simulation results, the ORBCOMM satellite-based AIS slot collision is increased directly proportional to the total number of vessels and the more detection probability evaluation of ORBCOMM satellite-based AIS degrader, the more sip AIS reporting rate shorter.

• Journal of Navigation and Port Research
• /
• v.41 no.5
• /
• pp.303-318
• /
• 2017

In the shipping industry, it is well known that around 80 % or more of all marine accidents are caused fully or at least in part by human error. In this regard, the International Maritime Organization (IMO) stated that the study of human factors would be important for improving maritime safety. Consequently, the IMO adopted the Casualty Investigation Code, including guidelines to assist investigators in the implementation of the Code, to prevent similar accidents occurring again in the future. In this paper, a process of the human factors investigation is proposed to provide investigators with a guide for determining the occurrence sequence of marine accidents, to identify and classify human error-inducing underlying factors, and to develop safety actions that can manage the risk of marine accidents. Also, an application of these investigation procedures to a collision accident is provided as a case study This is done to verify the applicability of the proposed human factors investigation procedures. The proposed human factors investigation process provides a systematic approach and consists of 3 steps: 'Step 1: collect data & determine occurrence sequence' using the SHEL model and the cognitive process model; 'Step 2: identify and classify underlying human factors' using the Maritime-Human Factor Analysis and Classification System (M-HFACS) model; and 'Step 3: develop safety actions,' using the causal chains. The case study shows that the proposed human factors investigation process is capable of identifying the underlying factors and indeveloping safety actions to prevent similar accidents from occurring.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.23 no.12
• /
• pp.1700-1709
• /
• 2019

Recently, many researches have been under way to develop systems (services) to support the safety navigation of ships, and in these studies, common difficulties have been encountered in assessing the usefulness and effectiveness of the developed system. To solve these problems, we propose the DEVS-based ship navigation modeling and simulation technique. Following the preceding study, we analyze the COLREG rules and reflected to officer and helmsman agent models for decision making. Also we propose estimation and interpolation techniques to adopt the motion characteristics of the actual vessel to simulation. In addition, we implement the navigation simulation system to reflect the designed proposed methods, and we present five-scenarios to verify the developed simulation system. And we conduct simulations according to each scenario and the results were reconstructed. The simulation results confirm that the components modelled in each scenario enable to operate according to the navigation relationships.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2023.05a
• /
• pp.210-211
• /
• 2023

To reduce maritime accidents and improve safety for domestic ships, the government has developed and is operating the Korean e-Navigation Service. The ship collision and grounding monitoring service and the route planning service were developed based on the experience of captains and navigators who navigated large ships. However, in Korea, small ships account for a large portion of the users of these services, so there are various difficulties and additional requirements for applying services based on large ships to small ships. To improve this, a data science-based algorithm model using maritime digital traffic information is being developed for small ships, and it is important to evaluate the performance of the developed model and compare its accuracy with existing services. In this study, we propose a performance evaluation method for the developed algorithm model and study how to compare and evaluate its accuracy with existing e-navigation services.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2023.05a
• /
• pp.204-205
• /
• 2023

This study studied a prediction model for sending collision alarms for small fishing boats based on semi-supervised learning(SSL). The supervised learning (SL) method requires a large number of labeled data, but the labeling process takes a lot of resources and time. This study used service data collected through a data pipeline linked to 'intelligent maritime traffic information service' and data collected from real-sea experiment. The model accuracy was improved as a result of learning not only real-sea experiment data with labeling determined based on actual user satisfaction but also service data without label determined together.

• Journal of the Korean earth science society
• /
• v.39 no.3
• /
• pp.241-249
• /
• 2018

As the international trade increases, vessel traffics around the Korean Peninsula are also increasing. Maritime accidents hence take place more frequently in the southern coast of Korea where many big and small ports are located. Accidents involving ship collision and sinking result in a substantial human and material damage as well as the marine environmental pollution. Therefore, it is necessary to locate the ships quickly when such accidents occur. In this study, we suggest a new ship detection index by comparing and analyzing the reflectivity of each channel of the Korea MultiPurpose SATellite-2 (KOMPSAT-2) images of the area around the Gwangyang Bay. A threshold value of 0.1 is set based on a histogram analysis, and all vessels are detected when compared with RGB composite images. After selecting a relatively large ship as a representative sample, the distribution of spatial reflectivity around the ship is studied. Uniform shadows are detected on the northwest side of the vessel. This indicates that the sun is in the southeast, the azimuth of the actual satellite image is $144.80^{\circ}$, and the azimuth angle of the sun can be estimated using the shadow position. The reflectivity of the shadows is 0.005 lower than the surrounding sea and ship. The shadow height varies with the position of the bow and the stern, perhaps due to the relative heights of the ship deck and the structure. The results of this study can help search technology for missing vessels using optical satellite images in the event of a marine accident around the Korean Peninsula.

• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.3
• /
• pp.318-325
• /
• 2015

Korea has very strong shipbuilding industry in the world, so many new ships are constructed in Korean shipyards. These built vessels are carrying out sea trial at sea before delivering to shipowner, and sea trial ships cause navigation risk to other passing vessels to accomplish sea trial tests as quick turning, zigzag maneuvering and crash astern etc. in traffic congestion conditions. It occurred more than 1 collision accident related sea trial for recent 5 years. It has been increased about 30% of risk because of navigation of sea trial vessel by marine traffic flow simulation. This paper analyzed marine traffic density surveyed by AIS data for 7 days, and investigated position of marine accidents for 5 years in Korean coastal waterway, it established the sea trial prohibition areas as 10/100 level of total marine traffic volume, which is considered no danger for ship operator. This analyzed maritime safety law for setting of the prohibition waters to propose the basic legal system. It makes contribution to marine pollution prevention by setting of the sea trial prohibition water to improve the ship's navigation safety.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.27 no.5
• /
• pp.557-565
• /
• 2021

Path-following control is considered as one of the most fundamental skills to realize autonomous navigation of marine vessels in the ocean. This study addresses with the path-following control for a ship in which there are environmental disturbances in the directions of the surge, sway, and yaw motions. The guiding principle and back-stepping method was utilized to solve the ship's tracking problem on the reference path generated by a virtual ship. For path-following control, error dynamics is one of the most important skills, and it extends to the research fields of automatic collision avoidance and automatic berthing control. The algorithms for the guiding principles and error variables have been verified by numerical simulation. As a result, most error variables converged to zero values with the controller except for the yaw angle error. One of the most interesting results is that the tracking errors of path-following control between two ships are smaller than the existing safe passing distances considering interaction forces from near passing ships. Moreover, a trade-off between tracking performance and the ship's safety should be considered for determining the proper control parameters to prevent the destructive failure of actuators such as propellers, fins, and rudders during the path-following of marine vessels.