• Journal of Ocean Engineering and Technology
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• v.38 no.1
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• pp.10-17
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• 2024

This study assessed the potential for crabbing motion in waterjet ships by exclusively employing stern thrusters. The theoretical considerations were validated through practical sea trials on the naval vessel PKG (Patrol Killer Guided missile) equipped with three stern thrusters. The control forces were calculated using the force equilibrium equation. The results showed that the hull exhibited rotations and lateral movements under wind influence. The port tail exhibited a leftward turning tendency due to the wind. This phenomenon arises from the dominance of the rotational force generated by the stern thruster over the lateral force exerted by the hull, making it challenging to maintain force equilibrium. In the sea trial, the hull rotated by 10° and moved 10.8 m laterally, with a longitudinal movement of 0.26 m. Remarkably, the lateral movement surpassed the longitudinal displacement, indicating the success of the trial. The substantial lateral travel distance provided tangible evidence that the crabbing motion of the ship is achievable using only stern thrusters. This study contributes valuable insights into enhancing the maneuverability of waterjet ships, offering practical applications for naval operations and maritime activities.

• International Journal of Naval Architecture and Ocean Engineering
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• v.1 no.1
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• pp.50-56
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• 2009

The hydrodynamic effect of appendages for high-speed passenger vessels, such as Ro-Pax, Ro-Ro and cruiser vessels, is very severe and, therefore, it is essential to carry out the design of appendages for high-speed passenger vessels from the preliminary design stage to the final detail design stage through a full survey of the reference vessels together with sufficient technical investigation. Otherwise, many problems would be caused by mismatches between the appendages and the hull form. This paper investigates the design characteristics of some appendages, such as the side thruster, the shaft-strut, and the stern wedge, based on the design experience accumulated at Samsung, on CFD, and on model test results for high-speed passenger vessels. Further to this investigation, some practical and valuable design guidelines for such appendages are suggested.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.359-362
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• 2006

This study develops an automatic berthing control algorithm for ships with a bow thruster and a stern thruster as well as a rudder. A nonlinear mathematical model for low speed maneuvering of ships is used to develop a MIMO(multi-input multi-output) nonlinear control algorithm. The algorithm consists of two parts, which are forward velocity control and heading angle control. The control algorithm is designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle is obtained by the so called "Line of Sight" method. An optimal control force allocation method of the rudder and the thrusters is suggested. The nonlinear control algorithms are tested by numerical simulations using MATLAB, and shows good tracking performances.

• Journal of Ocean Engineering and Technology
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• v.24 no.2
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• pp.10-17
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• 2010

Conventionally, because it is difficult to control a ship in shallow water and because attempting to do so creates unwanted environmental effects, maneuvering ships in the harbor area for berthing is usually done with the assistance of tugboats. In this paper, we propose a new method for berthing ships automatically by using bow and stern thrusters. Specifically, a steering motion model of a ship is considered, and parameters in the equation are evaluated by the system identification technique. An optimal controller based on observations was designed from the linearization of the non-linear ship motion in the horizontal plane. It is used to reduce the uncertainty about the ship's dynamics and reduce measurement requirements. The performance of the controller was also analyzed for its robustness relative to avoiding disturbing the environment due to winds, currents, and wave-drift forces. Experiments were conducted to estimate the potential for identifying result and the design of the controller. Specifically, in this paper, the system modeling and tracking control approach are discussed based on a two-degree-of-freedom (2DOF) servo-system design.

• Journal of Ocean Engineering and Technology
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• v.22 no.3
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• pp.34-40
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• 2008

his study discusses the design of an automatic berthing control algorithm for ships with a haw thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the law speed maneuvering of ships was used to design a MIMO (multi-input multi-output) nonlinear control algorithm. The algorithm consists of two parts, the forward velocity control and heading angle control. The control algorithm was designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle was obtained by the so-called "Line of Sight" method. An optimal control force allocation method forthe rudder and the thrusters is suggested. The nonlinear control algorithm was tested by numerical simulations using MATLAB, and showed good tracking performance.

• Journal of Fisheries and Marine Sciences Education
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• v.19 no.1
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• pp.129-136
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• 2007

The component parts of the shell plate of a ship are steel. but the screw propeller or the bow thruster is a compound of bronze, nickel and aluminum. On account of the these different components between metals of the shell plate, the screw propeller and the bow thruster, which are underwater, the shell plate of a ship is corroded by the action of ionization. Authors investigated the corrosion loss of the zinc anodes which were attached to the bottom shell of the training ship Kaya for about two years. The obtained results were as follows:1. In case of the shell plate the difference of the corrosion loss according to port and starboard was almost nothing. But the corrosion loss of the forward part was more than that of the aftward part.2. There was little difference in the corrosion loss between the forward and the aftward part on the bilge keel.3. The corrosion loss of the fore, midship and aft part on the false keel were 24.7%, 22.4% and 23.9% respectively.4. The corrosion loss of the fore and the aft part on the false keel was more than that of the midship part.5. The corrosion loss of the bow thruster was greater than any other parts.6. The nearer the zinc anode to the screw propeller the more the corrosion loss on the stern frame, and the situation was also same as on the rudder.

• Journal of Ocean Engineering and Technology
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• v.30 no.5
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• pp.400-404
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• 2016

This paper presents experimental results for the vibration characteristics of the small unmanned underwater vehicle (UUV) OPKO 300, which was designed and manufactured by Daewoo ship and Marine Engineering Ltd. The autonomy of UUVs has led to an increase in their use in scientific, military, and commercial areas because their autonomy makes it possible for UUVs to be utilized instead of humans in hazardous missions such as mine countermeasure missions (MCM). Since it is impossible to use devices based on electromagnetic waves to gather information in an underwater environment, only sonar systems, which use sound waves, can be used in underwater environments, and their performance can strongly affect the autonomy of a UUV. Since a thruster system, which combines a motor and propeller in a single structure, is widely used as the propulsion system of a UUV and is mounted on the outside of a UUV’s stern, it can generate vibration, which can be transferred throughout the shell of the UUV from its stern to its bow. The transferred vibration can affect the performance of various sonar systems such as side-scan sonar or forward-looking sonar. Therefore, it is necessary to estimate the effect of the transferred vibration of the UUV on the sonar systems. Even if various numerical methods were used to analyze the vibration problem of a UUV, it would be hard to predict the vibration phenomena of a UUV at the initial design stage. In this work, an experimental study using OKPO 300 and an impact hammer was carried out to analyze the vibration feature of a small real UUV in the air. The frequency response function of the vibration based on the experimental results is presented.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.47 no.4
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• pp.435-442
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• 2011

In an attempt to respond to the increase in international oil prices and reduce operating expenses, ship remodeling was carried out on a 740ton class tuna purse seiner. To strengthen the competitiveness of the fisheries industry by improving vessel performance, a bulbous bow was newly equipped. The slipway and rudder area were also lengthened and enlarged with the propeller and main engine remained unchanged. To reduce the hull resistance, a circle type bulbous bow was attached on the hull behind bow thruster and thus the cost for exchanging electrical equipment for bow thruster was reduced. The new rudder area was expanded 15% more than the old one within the extent that the existing mechanical control part and rudder stock were not changed. To prevent fishing net damage and stabilize wake field, slipway was lengthened to the optimal position. All of the new design of remodeling parts went through the model tests in towing tank and CWC. Besides resistance test, all of necessary model test results were delivered for hydrodynamic character for the modified ship. The maneuvering simulation to verify that the remodeled ship satisfies the IMO rules was performed in both zigzag and turning tests. The estimated resistance with new bulbous bow and lengthened stern was reduced by 4.8% in the 2-dimensional analysis and 17.4% in the 3-dimensional analysis in comparison of conventional ship. The average reduction of resistance was estimated about 10%. Maneuvering character of modified hull form was found to satisfy all regulations under IMO. The remodeling of tuna purse seiner can not only improve fishing performance but also contribute to reduction of operating cost by saving energy for the fisheries industry.