• Ocean Systems Engineering
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• v.1 no.4
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• pp.297-315
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• 2011

New applications of streamlined Autonomous Underwater Vehicles require an AUV capable of completing missions with both high-speed straight-line runs and slow maneuvers or station keeping tasks. At low, or zero, forward speeds, the AUV's control surfaces become ineffective. To improve an AUV's low speed maneuverability, while maintaining a low drag profile, through-body tunnel thrusters have become a popular addition to modern AUV systems. The effect of forward vehicle motion and sideslip on these types of thrusters is not well understood. In order to characterize these effects and to adapt existing tunnel thruster models to include them, an experimental system was constructed. This system includes a transverse tunnel thruster mounted in a streamlined AUV. A 6-axis load cell mounted internally was used to measure the thrust directly. The AUV was mounted in Memorial University of Newfoundland's tow tank, and several tests were run to characterize the effect of vehicle motion on the transient and steady state thruster performance. Finally, a thruster model was modified to include these effects.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.3 s.147
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• pp.304-312
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• 2006

For protection of the thruster against mechanical damage and reduction of tunnel resistance at ship forward speed, the tunnel grids are normally installed. Some of ship operators however, have a strong distrust of the protective function of the tunnel grids and so they do not want to install the protective grids for higher thruster efficiency. Since the grids should be installed at very close to the side shell as far as possible in due consideration of flow direction to minimize additional resistance induced by tunnel openings, it has been too hard and time consuming work to install the grids on the curved and chamfered tunnel entrances considering its relatively low resistance reduction effect. DSME (Daewoo Shipbuilding & Marine Engineering Co., Ltd) developed a substituting device named TG (Tunnel Guides) for bow thruster tunnel grids which is characterized by higher resistance reduction, higher thruster efficiency and easy to installation. This paper provides the principle idea of the TG with short history of the development using CFD calculations and model experiments in MOERI (former KRISO).

• Journal of the Society of Naval Architects of Korea
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• v.52 no.1
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• pp.34-42
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• 2015

The development of an azimuth thruster which has the function of dynamic positioning and propulsion has been greatly required as the demand of vehicles with it increases. To develop or design a reliable azimuth thruster, it is appropriate that the performance and cavitation observation tests should be conducted in the regime of high Reynolds number. In the present study, to satisfy high Reynolds number condition new dynamometer for a large azimuth thruster is manufactured and arranged in the test section of the Large Cavitation Tunnel (LCT). The test method composed of the open water and the cavitation observation tests is established successfully in LCT, considering the thruster design.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.785-786
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• 2011

• Journal of the Society of Naval Architects of Korea
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• v.61 no.3
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• pp.161-169
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• 2024

In order to investigate cavitation performance for the azimuth thruster in Large Cavitation Tunnel (LCT), the cavitation test apparatus was designed and manufactured. Generally the model scale is determined by the pod dynamometer with about 70mm diameter. Recently as ships with azimuth thruster have become bigger, the problem of the model ship installation was occurred. The model ship with pod dynamometer couldn't be installed in the LCT test section. The cavitation test apparatus and technique which can conduct the cavitation test without pod dynamometer were developed. The cavitation tests were conducted in torque identity method instead of thrust identity method. The target ship with azimuth thruster is 18K LNG bunkering vessel. As the full-scale ship test was conducted, the model cavitation tests were conducted at the same operating conditions. The fluctuating pressure levels of the full-scale ship were compared to those of the model tests. Another model cavitation test was conducted in the foreign institute and the cavitation observation results were compared to those of LCT. Through the comparison with the existing results, it is thought that the cavitation test for the azimuth thruster can be conducted in torque identity method.

• Special Issue of the Society of Naval Architects of Korea
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• 2011.09a
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• pp.43-46
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• 2011

The noise characteristics of multi-purpose dive support vessel show the different patterns such as types of noise sources, accommodation arrangement and etc due to its operation. Especially, the tunnel and retractable thruster for the dynamic positioning should be considered at the noise analysis. The floating floor is selected as the main measure of noise reduction and is constructed at the deck near the noise sources. In this paper, the noise analysis of dive support vessel is based on the estimation of noise sources and floating floor and SEA (Statistical Energy Analysis) is used for analysis of the air-born noise and structure-borne noise. The noise analysis of air conditioning system is also carried out and the noise results of cabin room are reviewed.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.2
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• pp.148-156
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• 2015

A continuous type side jet controller which has four nozzles with thrust control devices was considered. It is deployed to a missile for high maneuverability and fast controllability in the terminal guidance phase. However, it causes more complex aerodynamic jet interactions between the side jet and the supersonic free stream than does the conventional impulse type side jet with a small single thruster. In this paper, a numerical investigation of the jet interference effects for the missile equipped with a continuous type side jet thruster is presented. A three-dimensional flow field was simulated by using a commercial unstructured-based CFD solver. The numerical simulation method was validated through comparison with wind tunnel test results for the single jet. The method of defining jet direction for this type of side jet control to minimize simulation cases was also introduced. Flow fields investigation and jet interaction effects for various flow conditions, jet pressure ratios and defined jet direction conditions were performed. From the numerical simulation for the continuous type side jet, extensive aerodynamic interference data were obtained to construct an aerodynamic coefficients database for precise missile control.

• Journal of Ocean Engineering and Technology
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• v.37 no.3
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• pp.122-128
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• 2023

Autonomous berthing is a crucial technology for autonomous ships, requiring optimal trajectory planning to prevent collisions and minimize time and control efforts. This paper presents a two-phase, two-point boundary value problem (TPBVP) strategy for creating an optimal berthing trajectory for a twin-propeller, twin-rudder ship with autonomous berthing capabilities. The process is divided into two phases: the approach and the terminal. Tunnel thruster use is limited during the approach but fully employed during the terminal phase. This strategy permits concurrent optimization of the total trajectory duration, individual phase trajectories, and phase transition time. The efficacy of the proposed method is validated through two simulations. The first explores a scenario with phase transition, and the second generates a trajectory relying solely on the approach phase. The results affirm our algorithm's effectiveness in deciding transition necessity, identifying optimal transition timing, and optimizing the trajectory accordingly. The proposed two-phase TPBVP approach holds significant implications for advancements in autonomous ship navigation, enhancing safety and efficiency in berthing operations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.10
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• pp.791-797
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• 2018

In this work, the high-altitude environment simulation study was carried out at an altitude of 65 km exceeding Mach number of 6 after the launch of Korean Space Launch Vehicle using a shock tunnel. To minimize the flow disturbance due to the strut support of test model as much as possible, a few different types of strut configurations were considered. Using the configuration with minimum disturbance, the high-altitude environment simulation experiment including a propulsion system with a single-plume, was conducted. From the thruster test through flow visualization, not only a shockwave pattern, but a general flow-field pattern from the mutual interaction between the exhaust plume and the free-stream undisturbed flow, was experimentally observed. The comparison with the computation fluid dynamic(CFD) results, showed a good agreement in the forebody whereas in the afterbody and the nozzle the disagreement was about ${\pm}7%$ due to unwanted shockwave formation emanated from the nozzle-exit.

• 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.