• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.38-48
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• 2020

In order to inspect the existing or newly constructed ship's hull, a professional diver directly inspects the ship's bottom of the water. However, since it is a work done by people, there are many dangers such as human casualties and crashes. To solve this problem, it is necessary to develop underwater drones for ship inspection for visual inspection. The technology applied to underwater drones, the use and manufacturing process of each component, and the method of manufacture such as firmware development were described, and the difference was compared by measuring the drone's own driving ability and driving ability using crawler under water, and the location tracking device test confirmed the error from the actual location. It is estimated that the use of underwater drones produced through this research will prevent human casualties and achieve economic effects and stability.

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

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.78-83
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• 2011

Traditional autopilot design requires an accurate aerodynamic model and relies on a gain schedule to account for system nonlinearities. This paper presents the control architecture applied to a dynamic model inversion at a single flight condition with an on-line neural network (NN) in order to regulate errors caused by approximate inversion. This eliminates the need for an extensive design process and accurate aerodynamic data. The simulation results using a developed full nonlinear 6 degree of freedom model are presented. This paper also presents the stability evaluation for control systems to which NNs were applied. Although feedback can accommodate uncertainty to meet system performance specifications, uncertainty can also affect the stability of the control system. The importance of robustness has long been recognized and stability margins were developed to quantify it. However, the traditional stability margin techniques based on linear control theory can not be applied to control systems upon which a representative non-linear control method, such as NNs, has been applied. This paper presents an alternative stability margin technique for NNs applied to control systems based on the system responses to an inserted gain multiplier or time delay element.

• Ocean Systems Engineering
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• v.10 no.4
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• pp.373-397
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• 2020

Heave compensation is a vital part of various marine and offshore operations. It is used in various applications, including the transfer of cargo between two vessels in the open ocean, installation of topsides of an offshore structure, offshore drilling and for surveillance, reconnaissance and monitoring. These applications typically involve a load suspended from a hydraulically powered winch that is connected to a vessel that is undergoing dynamic motion in the ocean environment. The goal in these applications is to design a winch controller to keep the load at a regulated height by rejecting the net heave motion of the winch arising from ship motions at sea. In this study, we analyze and compare the performance of various control algorithms in stabilizing a suspended load while the vessel is subjected to changing sea conditions. The KCS container ship is chosen as the vessel undergoing dynamic motion in the ocean. The negative of the net heave motion at the winch is provided as a reference signal to track. Various control strategies like Proportional-Derivative (PD) Control, Model Predictive Control (MPC), Linear Quadratic Integral Control (LQI), and Sliding Mode Control (SMC) are implemented and tuned for effective heave compensation. The performance of the controllers is compared with respect to heave compensation, disturbance rejection and noise attenuation.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.314-324
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• 2020

Due to the nonlinearity and environmental uncertainties, the design of the ship's steering controller is a long-term challenge. The purpose of this study is to design an intelligent autopilot based on Extended Kalman Filter (EKF) trained Radial Basis Function Neural Network (RBFNN) control algorithm. The newly developed free running model scaled surface vessel was employed to execute the motion control experiments. After describing the design of the EKF trained RBFNN autopilot, the performances of the proposed control system were investigated by conducting experiments using the physical model on lake and simulations using the corresponding mathematical model. The results demonstrate that the developed control system is feasible to be used for the ship's motion control in the presences of environmental disturbances. Moreover, in comparison with the Back-Propagation (BP) neural networks and Proportional-Derivative (PD) based control methods, the EKF RBFNN based control method shows better performance regarding course keeping and trajectory tracking.

• 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 the Korean Society of Fisheries and Ocean Technology
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• v.11 no.1
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• pp.26-31
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• 1975

Mordern Ocean-going ships utilize stabilization techniques in order to minimize the effects of oscillations due to the unwanted disturbances. In this paper, as an elementary design of automatic control system with linear-state vari;tble feedback and series compensator for ship stabilization, analysis and design is limited to the linear time-invariant single input and output system. In order for the Controlled system to meet the requirements of stability, accuracy and transient response, a model of the automatic control system is proposed. For the analysis and design of this model, the state-space method, that is, the mordern way, or an alternative to the transfer function method of describing a linear system that utilize the state variables and state equations, is applied.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.288-290
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• 2006

This paper presents the real-time water tank wireless control in a ship using duplex RF modules and PLC(Programmable logic Controller). The purpose of this paper is developing HMI(Human Machine Interface) for automation equipments. The system can low a cost because long wires are no more used. Analog signals of the water gauge and flow meter are changed to discrete signals by the micro-processor. The PLC checks the volume of water and runs On or Off of the valve and pump. Duplex RF modules send and receive data between the water tank and control room. Everywhere the Internet is used, operators are able to check the status of the system by the web-server.

• Journal of Welding and Joining
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• v.21 no.5
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• pp.518-524
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• 2003

The block assembly of ship consists of a series of heat processes such as cutting, bending, welding, residual stress relaxation and fairing. With the fast development of computers, the thermal elasto-plastic analysis method has become a versatile tool for practical applications in the ship production. If numerical analysis is proved to be an advantageous tool to predict the residual deformation due to various heat processes, the optimum methods which can remove the welding distortion can be presented at each assembly stage, which will result in great progress in improving the accuracy of block assembly. In order to minimize the weld-induced angular distortion in thick weldments, this paper proposes the optimum groove design for various plate thickness as the distortion control method. The validity of this method has been substantiated by a number of numerical simulations and experiments.

• Journal of Ocean Engineering and Technology
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• v.22 no.6
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• pp.100-105
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• 2008

The block assembly of ship consists of a series of heat processes such as cutting, bending, welding residual stress relaxation and fairing With the fast development of computers, the thermal elasto-plastic analysis method has become a versatile tool for practical applications in the ship production. If numerical analysis is proved to be an advantageous tool to predict the residual deformation due to various heat processes, the optimum methods which can remove the welding distortion can be presented at each assembly stage, which will result in great progress in improving the accuracy of block assembly. In order to minimize the weld-induced angular distortion in thick weldments, this paper proposes the optimum groove design for various plate thickness as the distortion control method. The validity of this method has been substantiated by a number of numerical simulations and experiments.