• 수산해양기술연구
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• 제35권3호
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• pp.209-214
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• 1999

The turning circle of a ship is the path followed by her center of gravity in making a turn of 360$^{\circ}$degrees or more with helm at constant angle. But generally it means her path traced at full angle of the rudder. For the ordinary ship the bow will be inside and the stern outside this circle.It has been usually understood that the turning circle is not essentinally affected by ship's speed at Froude numbers less than about 0.30. However, it is recently reported that the speed provide considerable effects upon the turning circle in piloting many ships actually at sea. In this paper, the author analyzed what effects the speed could provide on the turning circle theoretically from the viewpoint of ship motions and examined how the alteration of the speed at Froude no. under 0.30 affect the turning circle actually, through experiments of actual ships of a small and large size.The main results were as follows.1. Even though ship's speed at Froude no. under 0.30, the alteration of the speed affects the turning circle considerably.2. When the full ahead speeds at Froude no. under 0.30 of small and large ships were increased about 3 times slow ahead speeds, the mean rates of increase of the advances, tactical diameters and final diameters of thease ships were about 16%, 21% and 19% respectively.3. When the full ahead speeds at Froued no. under 0.30 of small and large ships were increased about 3 times slow ahead speed, the mean rate of increase of the turning circle elements of large ships was greater 10% than that of small ships. 4. When the full ahead speeds at Froued no. under 0.30 of small and large ships were increased about 3times slow ahead speeds, the mean rates of increase of the tactical diameter and final diameter of thease ships were greater than that of the advances of thease ships. 5. When only alteration of speed or sip's head turning is the effective action to avoid navigational fixed hagards, reducing the speed is always more advantageous than increasing the speed in order to shorten fore or transverse distance.

• 수산해양기술연구
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• 제35권3호
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• pp.210-210
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• 1999

The turning circle of a ship is the path followed by her center of gravity in making a turn of 360$^{\circ}$degrees or more with helm at constant angle. But generally it means her path traced at full angle of the rudder. For the ordinary ship the bow will be inside and the stern outside this circle.It has been usually understood that the turning circle is not essentinally affected by ship's speed at Froude numbers less than about 0.30. However, it is recently reported that the speed provide considerable effects upon the turning circle in piloting many ships actually at sea. In this paper, the author analyzed what effects the speed could provide on the turning circle theoretically from the viewpoint of ship motions and examined how the alteration of the speed at Froude no. under 0.30 affect the turning circle actually, through experiments of actual ships of a small and large size.The main results were as follows.1. Even though ship's speed at Froude no. under 0.30, the alteration of the speed affects the turning circle considerably.2. When the full ahead speeds at Froude no. under 0.30 of small and large ships were increased about 3 times slow ahead speeds, the mean rates of increase of the advances, tactical diameters and final diameters of thease ships were about 16%, 21% and 19% respectively.3. When the full ahead speeds at Froued no. under 0.30 of small and large ships were increased about 3 times slow ahead speed, the mean rate of increase of the turning circle elements of large ships was greater 10% than that of small ships. 4. When the full ahead speeds at Froued no. under 0.30 of small and large ships were increased about 3times slow ahead speeds, the mean rates of increase of the tactical diameter and final diameter of thease ships were greater than that of the advances of thease ships. 5. When only alteration of speed or sip's head turning is the effective action to avoid navigational fixed hagards, reducing the speed is always more advantageous than increasing the speed in order to shorten fore or transverse distance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.884-887
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• 2000

In the present industry, there is not only the cutting of iron metal, but also the cutting of alloy aluminum, brass and plastic to wood(Paulownia). A variety of material is used and these industry is made need of the cutting material but lots of experiments processing is not enough at the moment. At this point, our team processed the basic experiment about influencing of Feedrate and Backrake angle of bite concerned to manufacture in the turning of non-iron metal. Generally speaking, we recognized that there was occurrence of increase of Surface Roughness with increasing of cutting angle in the non-iron metal, but in the cutting of wood we knew, there was special change with change of cutting angle

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.513-520
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• 2011

This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.

• 대한조선학회논문집
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• 제58권4호
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• pp.253-261
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• 2021

This paper describes the process of evaluating maneuverability in still water of an unmanned surface vehicle based on data measured by performing sea trials. First, we set up a test scenario that is easy to analyze the maneuverability of the unmanned surface vehicle and to identify and verify the dynamics model. Since the attitude of hull varies according to the speed of the unmanned surface vehicle which has a planing hull shape, the relationship between waterjet RPM, speed and attitude is analyzed by performing straight forward tests at various speeds. The turning tests of the unmanned surface vehicle in which the waterjet angle rotates while turning are performed by changing the waterjet rotation angle under the condition of two representative speeds to analyze turning ability. The turning ability of the unmanned surface vehicle includes speed reduction, yaw rate, heel, and turing diameter at steady turning phase according to the speed and RPM.

• 수산해양기술연구
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• 제37권4호
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• pp.275-284
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• 2001

본 연구에서는 제주대학교 실습선 아라호(G/T : 990tons)의 조종 성능을 파악하기 위하여 2000년 8월과 2001년 5월에 2회에 걸쳐 제주항 북방 3마일 해상에서 조타에 의한 선회성과 추종성 등의 조종성능을 실시한 결과는 다음과 같다. 1. 부표 방위반법으로 측정한 선회권의 크기에서 선회종거는 우현선회시가 198m, 좌현선회시가 192m로서 좌현선회시가 우현선회시보다 6m 작았으며, 또한, 선회경의 크기는 우현선회시가 194m, 좌현선회시가 188m로서 좌현선회시가 우현선회시 보다 6m 작았다. 2. DGPS 측위에 의한 선회권의 크기에서 선회종거는 우현선회시가 196m, 좌현선회시가 194m로서 좌현선회시가 우현선회시보다 2m 작았다. 또한, 선회경의 크기는 우현선회시가 194m, 좌현선회시 190m로서 좌현선회시가 우현선회시보다 4m 작았다. 3. 신조 시운전시 부표 방위반법에 의해 측정한 선회권의 크기와 2001년 5월에 DGPS 측위에 의하여 측정한 선회권의 크기를 비교해 본 결과, 선회종거는 DGPS 측위에 의한 선회권이 신조시운전시 선회종거보다 우현선회시가 1m 컸으며, 좌현선회시가 21m 작았다. 또한, 선회경의 크기는 우현선회시 16m, 좌현선회시 23m 작았다. 4. 선속 13k't로 전속 전진중 타각 $35^\circ$로 좌현 또는 우현으로 전타 했을 때 선회각 $180^\circ$에서 선속이 7.8k't이고 $360^\circ$선회시는 6.0k't가 되었으며, 소요 시간은 좌현선회시가 150초, 우현선회시가 156sec로 좌현선회시가 우현선회시보다 6초 짧았으며, 선회평균 각속도는 좌현선회시가 $2.4^\circ$/sec, 우현선회시가 $2.3^\circ$/sec였다. 5. 타각 $10^\circ$, $20^\circ$, $30^\circ$ Z시험에서 선회성지수 K와 추종성지수 T는 각 각 선회성지수는 1.24, 1.45, 1.65였으며, 추종성지수는 각 각 0.33, 0.20, 0.14가 되어 $30^\circ$인 경우가 $10^\circ$, $20^\circ$ Z시험에서 보다 선회성지수 K는 크고, 추종성지수 T는 작아서 대각도 조타일 때가 소각도 조타일 때 보다 조종성능이 양호하였다.

• 수산해양기술연구
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• 제28권1호
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• pp.21-26
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• 1992

Generally a navigator evaluated the maneuverability of his ship by the scale of turning circle which was described only by the largest rudder angle of the port and starboard sides. But to have the sufficient knowledge of his ship's maneuvering characteristics he should consider the data about the new course keeping test, the spiral test, and the turning circle tests in accordance with the rudder angles together. In this paper the author performed the above tests to study the maneuverability of the stern trawler M.S. Pusan 404 which is a training ship of the National Fisheries University of Pusan. The obtained results are summarized as follows: 1. When the rudder angles being 5。, 10。, 20。, 30。, 35。 the advances of the starboard side turning circles were 12.8, 8.2, 4.8, 2.9, 2.7 times as large as the length of the ship, and of the port side turning circles were 13.3, 8.7, 5.4, 3.5, 2.9, time as large as the large as it. Under the same conditions the tactical diameters were 15.1, 9.7, 5.2, 3.1, 2.8 times as large as the length of the ship, for starboard side, and 17.2, 12.4, 6.4, 3.7, 3.2 times as large as it for port side. 2. As the rudder angle being increased the ratio of the advance to the tactical diameter was nearly 1 and her obeying ability was better than that of the small angle. 3. The mean values of the rates of speed reduction during the steady turning motion were 0.96, 0.92, 0.82, 0.71, 0.65 in accordance with the rudder angles. 4. The relative formulas between the distance to the new course y and the altering course x were as follows: When rudder angles being 10。, 20。, 30。, y=52.2222+1.6133x, y=48.750+0.9383x, y=39.250+0.655x respectively. 5. There was little difference of the distance to the new course between rudder angle 20。and 30。, and so it is desirable for a navigator to a navigator to use the small rudder angles unless sudden emergencies. 6. Though her rudder angle being small her course stability was good according to the spiral tests.

• 수산해양기술연구
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• 제31권1호
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• pp.84-92
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• 1995

군산대학교 실습선 해림 3호의 조종성능을 파악하기 n이하여 GPS 보다 그 측립정도가 더 높은 DGPS를 이용하여 종회권 측정을 행하고, 이를 재래식 측정방법인 부표방입반법과 비교 검토하였으며, 그 결과를 요약하면 다음과 같다. 1. DGPS에 의한 선회권측정의 정도를 파악하기 위하여 육상에서 50m의 선회시험을 행한 결과 측위오차는 1.5m 이내 였다. 2. DGPS에 의한 선회권측정은 속력별, 타각별, 좌우선회별로 각각 그 특성이 잘 나타낼 수 있도록 정확하게 측정 할 수 있었다. 3. 부표방위반법에 의한 선회권측정은 타각을 크게 하여 그 선회권이 작을 때는 DGPS의 것과 같이 비교적 정확하게 측정할 수 있으나, 타각을 작게하여 선회권이 클 때는 방위오차가 크기 때문에 정확하게 측정할 수 없었다. 4. DGPS에 의한 해림 3호의 선회경(DT)은 타각 35。~5。일 때, 미속에서는 선박의 수선간장 (Lpp)상의 2.6~15.0배, 반속에서는 2.8~16.6배, 전속에서는 3.1~17.4배로 나타났었고, 부표방위반법에 의한 선회경은 각각 2.4~9.5배, 2.6~9.6배, 3.2~12.2배로 나타났었다

• 수산해양기술연구
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• 제22권2호
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• pp.22-30
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• 1986

It is very important for a navigator on bridge to know the maneuverability of his ship sufficiently at sea. Generally, the data of a turning circle test have long been used to study and evaluate the maneuverability of a ship. But referring only the data of the turning circle test method, he can not evaluate his ship's maneuvering characteristics sufficiently. So nowaday the test method added Z test to turning circle test for more detail references is considered to be desirable. In this paper, the authors performed PAL test and Z test together in order to study the maneuverability of M. S.Pusan 403, training ship of the National Fisheries University of Pusan. According to the results of PAL test, the rudder effect in port rudder angle of the M. S. Pusan 403 was found to be more effective than that in starboard one, because her changing amounts of angular velocity, turning radius and tangent speed in port rudder angles were found to be larger than those of them in starboard rudder one in unsymmetry. The relation between her drift angle(.8) and rudder angle (0) was found to be changing with .8=0.640 in direct proportion. As it appeared that her calculated K'-values were smaller than the standard K'-values of different kinds of ships in accordance with her Z test, her turning ability was found to be lower. The running distance of a turn in her 10$^{\circ}$ Z test was about 8.3 times her own length and was found not to be exceeded the standard maneuvering distance, therefore she was considered to have good maneuverabilities synthetically.

• 한국기계가공학회지
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• 제2권1호
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• pp.39-44
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• 2003

In the present industry, there are necessary to cut not only iron metals but also non-ferrous metals such as aluminum, brass, plastic and wood(Paulownia) therefore it had been made the studies of non-ferrous metals by many scientists. The purpose of this study is to conduct the basic experiment about influencing of the feedrate adjustment and the change of the side rake angle at turning of non-ferrous metals. As the results, the surface roughnesses and Cutting force adjustments were on the decrease with a side-rake angle and feedrate diminution in the case of the plastic, brass, aluminum, and paulownia.