• Journal of Drive and Control
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• v.13 no.4
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• pp.23-30
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• 2016

This paper presents a control-oriented dynamical model of a towing rope system with variable-length. In this system, a winch driven by a motor's torque uses the towing rope to pull a cart. In general, it is a difficult and complicated process to obtain an accurate mathematical model for this system. In particular, if the rope length is varied by operating the winch, the varying rope dynamics needs to be considered, and the key physical parameters need to be re-identified... However, real time parameter identification requires long computation time for the control scheme, and hence undesirable control performance. Therefore, in this article, the rope is modeled as a straight massless segment, with the mass of rope being considered partly with that of the cart, and partly as halfway to the winch. In addition, the changing spring constant and damping constant of the towing rope are accounted for as part of the dynamics of the winch. Finally, a reduced-order observer-based servomechanism controller is designed for the system, and the performance is evaluated by computer simulation.

• Journal of Power System Engineering
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• v.20 no.2
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• pp.58-65
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• 2016

Lately, tugboats are widely used to maneuver vessels by pushing or towing them where tugboats use rope. In order to correctly control the motion of tugboat and towed vessel, the dynamics of the towline would be well identified. In real application environment, the towing rope length changes and the towing load is not constant due to the various sizes of towed vessel. And there are many ropes made by many types of materials. It means that it is not easy to obtain rope dynamics, such that it is too difficult to satisfy the given control purpose by designing control system. Thus real time identification or adaptive control system design method may be a solution. However it is necessary to secure sufficient information about rope dynamics to obtain desirable control performance. In this paper, the authors try to have several rope dynamic models by changing the rope length to consider real application conditions. Among them, a representative model is selected and the others are considered as uncertain models which are considered in control system design. The authors design a robust control to cope with strong uncertain and nonlinear property included in the real plant. The designed control system based on robust control framework is evaluated by simulation.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.44 no.2
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• pp.120-128
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• 2008

Estimation of the gear shape and cross section of sweep at mouth of a bottom trawl net was described and applied to the field experiments obtained with the Scanmar system. The shape of the trawl net from wingend to the beginning of codend was assumed to be part of an elliptic cone of which the cross section was ellipse, and that of the float rope be of form $y_f=a_fx^{bf}$. In case of a bottom trawl with warp 180m long, the radius of ellipse, the cross section of sweep at mouth, the eccentricity of the ellipse, the inclination angle of float rope and the contribution of the side panel to net height were estimated in accordance with towing speed. The horizontal radius of the upper ellipse increased with increasing towing speed, the eccentricity of it became slightly bigger as increasing the towing speed which meant the shape of it being flat. And the inclination angle of the float rope was about between 7 and 12 degrees in case of the above bottom trawl.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.34 no.3
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• pp.294-301
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• 1998

Towing performance of a midwater trawl system was examined aboard the training ship KAYA(2900ps) at the East Sea using the midwater trawl gear that had been designed and manufactured in accordance with the vessel. In this experiment, the trawl system data, the towing speed, the length and tension of the warp, net mouth height, and the depth of otter boards and net were measured and analyzed. The results are as follows: 1. In case of heaving in the warp with constant towing speed, the tension was suddenly increased and then again was reduced and after returned to the original steady state tension. At this time, net height was reduced a bit by ascension of ground rope, but returned to it’s original value. In the case where the warp was paid out, the tension was suddenly decreased and after increased and then returned to the tension of the original state, and the net height was greatly increased instantly by the sinking of the ground rope and then returned to the steady state 2. In the case of increased towing speed mm constant warp length, the tension was increased, and reducing the net height, the gear depth was decreased. On the other hand, in the case where towing speed was reduced, the tension was reduced and the gear depth and net height was increased. 3. Otter boards show a swing motion in the scope of 5~ 10m continuously. Otter boards responded to the state change of the trawl system at first, and then the motion of the net appeared. 4. The depth of net center was about 20m deeper than that of the otter boards, it shows about 0.4 times the warp length at the 4knots towing speed.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.34 no.3
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• pp.238-244
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• 2001

A method of estimating the fluid drag of a fishing gear and otter board spread in a midwater trawl on full scale was described by implementing a three-dimensional semi-analytic treatment of the towing cable (warp) of a trawl system with the field experiments obtained with the SCANMAR system. The shape of hand rope, bridle and float(or ground) rope attached behind otter boards in a horizontal plane was assumed to be of form $y_r=Ax_r^B$. The distance between otter boards (otter board spread) obtained by the three dimensional analysis of a towing cable must be equal to that obtained by the functional equation of the shape of ropes behind otter boards, The angle of attack of ropes which can be obtained from the functional equation enables one to estimate the fluid drag of trawl net (net drag) by subtracting the fluid drag of the hand rope and bridles from the drag component of the tension of hand rope attached just behind the otter boards.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.41 no.2
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• pp.140-149
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• 2008

This study evaluated the efficiency of an oil fence and spreading devices for one vessel in a towing tank. A series of model experiments and numerical calculations were conducted using an existing oil fence for two vessels and a new method for one vessel. Models of the oil fence and spreading devices were constructed on $1/20^{th}$ scale from waterproofed nylon fabric and canvas. The tensions acting on the model of the oil fences and the horizontal distance between the spreading devices were calculated numerically while the oil fences were being towed. The results were extremely close to the results of the model experiments. The ratio of the opening width to the total length of the oil fence, which shows the efficiency of the oil fence for one vessel, was 49.7% in 0.4 m/sec. Therefore, the proposed oil fence system should be very useful for oil containment at sea. As the opening width of the oil fence is not proportional to the length of the towing rope, it may be reasonable to maintain the towing rope at approximately 100 m. Furthermore, a reasonable towing speed, when operating the oil fence for one vessel equipped with spreading devices, was within 0.4 m/sec.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.43 no.4
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• pp.347-354
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• 2007

This paper describes on the real-time monitoring of net setting and hauling process for fishing operations of Danish seine vessels in the southern waters of Korea as an application of a PC based ECDIS system. Tracking of fishing process was performed for the large scale Danish seine vessel of G/T 90 and 350 PS class using the fishing gear which the length of net, ground rope, head rope and sweep line including warp in both sides were 86m, 104m, 118m and 3,200m, respectively. Tracking information for net setting and hauling process was continuously recorded for 23 fishing operations performed on November and December, 2003. All measurement data, such as trawl position, heading, towing course and past track which was individually time stamped during data acquisition, was processed in real time on the ECDIS and displayed simultaneously on the ENC chart. The results indicated that after the separation of a marker buoy from Danish seiner, the averaged running speed of vessel and the averaged setting period while shooting the seine on the course of diamond shape to surround the fish school in the 23 fishing operations were 8.3 knots and 13.1 minutes, respectively. And with the maker buoy taken on board, the averaged running speed of vessel and the averaged towing period while closing the seine on the straight route was 1.0 knots and 47.0 minutes, respectively. After the closing stage of hand rope, the hand rope was towed by the averaged speed of 2.2 knots during the 13.0 minutes. The average area for route of diamond shape swept by sweep lines of the seine in 23 fishing grounds was $709,951.6m^2$. Further investigation is also planed to provide more quantitative tracking information and to achieve more effective surveillance and control of Danish seine vessels in EEZ fishing grounds.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.38 no.3
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• pp.209-216
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• 2002

How to estimate the shape of trawl net and ropes of a midwater trawl on full scale was described by implementing a three-dimensional semi-analytic treatment of a towing cable system with the field experiments obtained with the Scanmar system. The shape of trawl net from wingend to the beginning of codend was assumed to be of form $\chi$$^2$/ae$^2$+ y$^2$/be$^2$=(z - c)$^2$/c$^2$, and that of the ropes attached behind otter boards be of form yr = $A\chi$rB. In case of warp length 300m long, the volume of trawl net, the ratio of net height to net width at the mouth of the trawl net, and the inclination angle of float rope were estimated according to the change of towing speed. The volume and the distance between wingtips were increased with increasing towing speed. And the inclination angle of float (or ground) rope was slightly decreased with increasing towing speed.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.51 no.1
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• pp.26-34
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• 2015

The angle of attack of a cambered otter board in a bottom trawl was estimated using a three-dimensional semi-analytic treatment of a towing cable (warp) system that was applied to the field experiments of a bottom trawl obtained by the Scanmar system. The equilibrium condition of the horizontal component and vertical component of forces was used to the three forces acting on the otter board in the horizontal plane. Those forces were the force on the warp at the bracket, hydrodynamic lift and drag forces on the otter board and the force on the hand rope attached just behind the otter board. Also the equilibrium of moment about the front edge of the otter board was used to find out the angle of attack of the cambered otter board. When the warp length was 120m and 180m long and the towing speed was between 1.23 and 1.90 m/s, the estimated angle of attack of the cambered otter board was ranged between $26.1^{\circ}$ and $29.6^{\circ}$, respectively, though the maximum lift force was at the angle of attack $22.6^{\circ}$. The angle of attack of the otter board was tended to increase weakly with the longer length of warp (180 m) at the same towing speed in the experiment.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.12 no.4
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• pp.217-224
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• 1979

The main purpose of the present study is to measure the sound spectra of the underwater noises generated by moving trawl net. An underwater recording system was designed to detect underwater noise generated by moving trawl net. The acoustic analysis was made by a heterodyne analyzer (B & K 2010) and level recorder (B & K 2307). The noises generated by the trawl net are appreciably higher (about 10dB) than the background noise in the presence of the fishing vessel. The frequency distribution of underwater noise was DC-6,300 Hz and predominant frequency range was 100-200 Hz, and maximum sound pressure level was $137\;db(re\;1{\mu}Pa)$. Sound pressure level recorded at the ground rope was higher than that recorded at the head rope. The sound pressure level meosured in the course of hawling was higher than that measured in the course of towing. When tile net is being casted tile sound pressure level showed the lowest value.