• Journal of Advanced Marine Engineering and Technology
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• v.29 no.1
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• pp.124-131
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• 2005

This paper suggests LOS(Line-Of-Sight) guidance system of a surface vessel in straight-line navigation under ocean currents An LOS vector from the vessel to a point on the path between two way-points is decided and a heading angle is calculated to converge to follow the desired path based on the LOS vector This guidance system is called LOS guidance system. The suggested LOS guidance law has parameters to be properly chosen according to navigational environment. Parameters of LOS guidance system are optimized to reduce propulsive energy and/or position error between desired Position and present position of a ship using genetic algorithm which is a strong optimization algorithm with adaptational random search The effectiveness of the suggested LOS guidance system is assured through computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.268-268
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• 2000

In the inspection of the reactor pressure vessel using an underwater mobile robot, we developed a new bi-directional guidance control scheme between an underwater mobile robot and a laser pointer. We imposed fanning to the inclinometer embedded in the mobile robot to improve its transient response, and used heuristic control scheme to reduce accidents when the laser pointer losts the mobile robot. We implemented these algorithms to our reactor vessel inspect ion system and performed a series of experiments.

• International journal of advanced smart convergence
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• v.12 no.1
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• pp.31-40
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• 2023

This asymed drone controller is indispensable for two components: Guidance and Controller. In which the Ministry of Guidance will receive waypoints from which to form an orbit then combine the data with the current location of the vessel, thereby calculating and also supplying the controller to drive the vehicle to follow the outlined trajectory. This article will use the Line Of Sight (LOS) algorithm to design the Guidance and Controller sets. The result as well as the effectiveness of the controller will be shown through matlab/SIMULINK simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.363-368
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• 2005

This paper proposes an LOS(line-of-sight) guidance system of a ship for path following. From the viewpoint of a control configuration, guidance is a special type of compensation algorithm that is placed in front of the controller to accomplish navigational objects. A guidance system generates a reference trajectory for trajectory tracking or path control and decides the desired velocity, position and heading angle. A control system executes commands based on a reliable guidance law during navigation. An LOS vector from the vessel to a point on the path between two way-points in straight-line navigation or a point among turning circle in turning navigation is selected, and then a heading angle is calculated to converge the desired path based on the LOS vector. The LOS guidance law is defined for the straight-line and the turning circle, respectively. The effectiveness of the suggested LOS guidance system is assured through computer simulation.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.176-177
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• 2011

현재, 해양 선박의 경우 주간에는 육안을 통하여 쉽게 항구를 찾아 쉽게 선박을 정박시키거나 출항을 할 수 있지만, 사람의 시야를 확보할 수 없는 야간의 경우에는 선박의 전자 장비에 의존하거나 해상위에 떠 있는 해상 유도 표시등을 이용하여 선박을 정박시키거나 출항을 하고 있다. 또한, 현재의 많은 해상 유도 표시등은 GPS를 사용하여 제품을 설계하고 있지만, 시간에 따른 점멸 제어에 대한 오차가 누적되어 일정시간의 경과 후에는 유도등의 동기화에 많은 문제가 발생하고 있는 실정이다. 본 논문에서는 야간에 선박의 안전한 출항과 정박의 안내를 위하여 해상 유도 표시등의 동시 점멸에 관한 논문으로 PGS 시간 정보 데이터를 이용하여 일정시간이 흘러간 뒤에도 유도등의 점멸 제어 누적 오차를 제거할 수 있는 알고리즘을 개발하여 기존의 제품을 보완할 수 있는 알고리즘을 제안하고 그 성능을 실험을 통하여 제시하고자 한다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.6
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• pp.708-716
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• 2019

After the Sewol ferry disaster, the maritime safety supervisor system was introduced to strengthen maritime safety control for coastal vessels. If any critical defect is found in vessel facilities during periodical or occasional guidance and supervision on a vessel, a maritime safety supervisor takes an administrative measure: detention of the vessel until it has been completely corrected. The detention order is one of the most powerful regulations exercised by a maritime safety supervisor. It would not be an overstatement to say that the guidance and supervision conducted by a maritime safety supervisor is very important for the safety of a vessel and protection of the maritime environment. However, the regulatory level of each Regional Office of Oceans and Fisheries toward vessels may vary with the enforcers, and an individual's intentional act or negligence might occur during the execution process. Detention of a coastal vessel by the Regional Office of Ocean and Fisheries can easily lead to delayed navigation, and a vessel owner may suffer economic loss from suspension of a charter party. Nevertheless, the Maritime Safety Act does not prescribe filing a petition for objection to the measure of detention order by a maritime safety supervisor. To overcome this problem, therefore, the objection procedure under the Maritime Safety Act has to be reformed to reclaim a right against an inappropriate detention order measure caused by an individual's intentional act or negligence through a formal objection.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1116-1120
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• 2004

In the nuclear power plant, there are several cylindrical vessels such as reactor vessel, pressuriser and so on. The vessels are usually constructed by welding large rolled plates, forged sections or nozzle pipes together. In order to assure the integrity of the vessel, these welds should be periodically inspected using sensors such as ultrasonic transducer or visual cameras. This inspection is usually conducted under water to minimize exposure to the radioactively contaminated vessel walls. The inspections have been performed by using a conventional inspection machine with a big structural sturdy column, however, it is so huge and heavy that maintenance and handling of the machine are extremely difficult. It requires much effort to transport the system to the site and also requires continuous use of the utility's polar crane to move the manipulator into the building and then onto the vessel. Setup beside the vessel requires a large volume of work preparation area and several shifts to complete. In order to resolve these problems, we have developed an underwater mobile robot guided by the laser pointer, and performed a series of experiments both in the mockup and in the real reactor vessel. This paper introduces our robotic inspection system and the laser guidance of the mobile robot as well as the results of the functional test.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.1
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• pp.56-67
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• 2018

With the introduction of the maritime safety supervisor system in Korea following the passenger vessel Sewol accident, the safety control system for coastal vessels has been reinforced. A maritime safety supervisor performs marine accident prevention activities by offering periodical or occasional guidance and supervision. When a deficiency is found during guidance or supervision sessions, an order for improvement is issued to rectify the problem by such measures as supplementation or replacement of vessel facilities, improvement of work hours and working conditions for employees, educational and training programs for executives and employees, or the improvement of other affairs relating to maritime safety control. However the present order for navigation suspension by a maritime safety supervisor is limited solely to supplementation or replacement. For this reason, orders for navigation suspension against other facilities is impossible, even if a serious deficiency that could lead to a marine accident such as poor cargo loading conditions or unqualified crew is identified. Therefore, the order for vessel navigation suspension to secure seaworthiness should be expanded to include cargo loading/unloading operations, certificates and documentation, maritime safety management systems, and human elements including emergency drills and working conditions, in addition to the supplementation or replacement of vessel facilities that exists.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2001.10a
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• pp.185-189
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• 2001

A study on the new active circulation type oil-water separation system including buoyancy type guidance system was carried out in this paper. Oil-water separation system is composed of several oil separation steps. Buoy type oil guiding system was developed based on the difference of buoyance of water and oil. The design speed of this vessel is 25 knots.

• Journal of Korean Medical classics
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• v.22 no.4
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• pp.217-220
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• 2009

In "Hwangjenaegyeong(黃帝內經)", the name of blood vessels is closely related to images of the river, and the word for blood vessel contains the following meaning, such as blood vessel, blood wind as well as blood stasis and so on. In a physiological perspective, the unobstructed blood vessel and normal operation blood are important symbols of health, for blood is the basis for human survival, physical activity and mental activity. In pathology, the external cold, excessive seven emotions and a biased diet can cause many kinds of abnormalities of the blood vessels, which can in turn become causes for a variety of diseases. The theory of blood vessels in "Hwangjenaegyeong" can provide guidance for diagnosis and treatment of cardiovascular diseases in practice.