• Journal of Korean Society for Geospatial Information Science
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• v.16 no.3
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• pp.65-69
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• 2008

This study is aimed to develope a remote control ship for acquisition of various underwater information. Remote control ship equipped with GPS, echosounder, sidescan sonar, subbottom profiler. Remote control ship is an automatic system for acquisition of inland water and coast information. For the development of remote control ship, underwater information acquisition of reservoir, dam, polluted area is expected. Also, multibeam echosounder, image sensor, water analysis sensor, etc. could be equipped in one ship. So robot-ship will be applied for the most part of industry managing water resources and preventing the flood by making bed topographic map and estimating water volumes.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.2
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• pp.347-360
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• 2014

The auto-berthing of a ship requires excellent control for safe accomplishment. Crabbing, which is the pure sway motion of a ship without surge velocity, can be used for this purpose. Crabbing is induced by a peculiar operation procedure known as the push-pull mode. When a ship is in the push-pull mode, an interacting force is induced by complex turbulent flow around the ship generated by the propellers and side thrusters. In this paper, three degrees of freedom equations of the motions of crabbing are derived. The equations are used to apply the adaptive backstepping control method to the auto-berthing controller of a cruise ship. The controller is capable of handling the system non-linearity and uncertainty of the berthing process. A control allocation algorithm for a ship equipped with two propellers and two side thrusters is also developed, the performance of which is validated by simulation of auto-berthing.

• 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 Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.363-372
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• 2002

In ship operation, the roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization system design have been performed and good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used exclusively to stabilize the roll. But, in the roll stabilization control system, the control performance is very sensitive to the ship speed. So, we can see that it is important to consider the ship speed in the rudder roll control system design. The gain-scheduling control technique is very useful in the control problem incorporating time varying parameters which can be measured in real time. Based on this fact, in this paper we examine the;$H_{\infty}$-Gain Scheduling control design technique. Therefore, we assume that a parameter, the ship speed which can be estimated in real time, is varying and apply the gain-scheduling control technique to design the course keeping and anti-rolling control system far a ship. In this control system, the controller dynamics is adjusted in real-time according to time-varying plant parameters. The simulation result shows that the proposed control strategy is shown to be useful for cases when the ship speed is varying and robust to disturbances like wind and wave.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.438-444
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• 2001

In this paper, an actively controlled anti-rolling system is considered to reduced the rolling motion of the ship. In this control system, a small auxiliary mass is installed on the upper area of the ship, and the actuator is connected between the auxiliary mass and the ship. The actuator reacts against the auxiliary mass, applying inertial control corves to the ship to reduce the rolling motion in the desired manner. in this paper, we apply the PID controller to design the anit-rolling control system for the controlled hip. And the experimental result shows that the desirable control performance is achieved.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.06a
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• pp.349-354
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• 2011

This paper addresses the trajectory tracking problem for ship berthing using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and performance robustness 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 the Korean Society for Precision Engineering
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• v.15 no.9
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• pp.33-42
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• 1998

If a ship diesel engine is operated by consolidated control with Controllable Pitch Propeller(CPP), the minimum fuel consumption is achieved together with the demanded ship speed. For this, it is necessary that the ship is operated on the ideal operating line which satisfies the minimum fuel consumption and that the pitch angle of CPP and throtle valve angle are controlled simultaneously. In this point of view, this paper presents a controller design method for a ship propulsion system with CPP based on the decoupling control theory. To do this, Linear Matrix Inequality(LMI) approach is introduced for the control system to satisfy the given $H_\infty$ control performance and robust stability in the presence of physical parameter perturbations. The validity and applicability of this approach are illustrated by simulation in the all operating ranges.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.296-300
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• 2003

The autopilot system targets decreasing labor, working environment improvement, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization. Dynamic Ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And Load Condition of ship as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that is disturbance act in non-linear from, become factor who make serv ice of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using fuzzy algorithm ,Design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.4
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• pp.409-417
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• 2005

This study is aimed to develop a remote control robot-ship system using wireless communication and DGPS, which it is an automatic system for measuring exact depth and bed topography of reservoir or dam. Robot-ship is equipped with GPS and echosounder, and it is controled remotely using wireless internet. Robot-ship is consist of frame, each module and control board. Control segment is consisted of a processing system for positioning data and remote control system. A wireless communication system is developed which can communicate interactively between robot-ship and control segment, and it is developed in two channel system of RF modem and wireless internet. The robot-ship could be used acquire economically and exactly the water depth and bed topography of reservoirs, dams, rivers and so on.

• Journal of Ocean Engineering and Technology
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• v.36 no.1
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• pp.50-60
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• 2022

The deep ocean engineering basin (DOEB) of the Korea Research Institute of Ship and Ocean Engineering (KRISO) is equipped with an extreme-environment reproduction facility that can analyze the motion characteristics of offshore structures and ships. In recent years, there have been requirements for a wide range of six-degree-of-freedom (6-DOF) motion measurements for performing maneuvering tests and free-running tests of target objects (offshore structures or ships). This study introduces the process of developing a wide-area motion measurement technology by incorporating the auto-tracking technology of the towing carriage system to overcome the existing 6-DOF motion measurement limitation. To realize a wide range of motion measurements, the automatic tracking control system of the towing carriage in the DOEB was designed as a speed control method. To verify the control performance, the characteristics of the towing carriage according to the variation in control gain were analyzed. Finally, a wide range of motions was tested using a model test object (a remotely operated vehicle (ROV)), and the wide-area motion measurement technology was implemented using an automatic tracking control system for a towing carriage.