• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.9
• /
• pp.869-874
• /
• 2011

This paper addresses the trajectory tracking problem for ship berthing by using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and robust performance with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2011.06a
• /
• pp.349-354
• /
• 2011

This paper addresses the trajectory tracking problem for ship berthing using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and performance robustness with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

• Journal of the Society of Naval Architects of Korea
• /
• v.50 no.1
• /
• pp.8-13
• /
• 2013

Excessive yaw motion of a turret moored vessel was examined in this paper. The vessel was moored by an internal turret and catenary mooring lines. The experiments were conducted in regular waves. Turret moored vessel can oscillate from side to side or move to one particular direction, and eventually exhibit large yaw motion. The results showed that the excessive yaw occured for specific condition, ratio of wave lengths and vessel length. It was found that turret moored floating vessel was unstable for regular wave period from 14 to 18 sec and excessive yaw occurred to maximum 50 deg. The time series, trajectory, phase plot and qualitative analysis are performed. The analysis showed that the results of experiments agreed with the that of analytic method and the excessive yaw could be predicted by the stability analysis.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2022.06a
• /
• pp.214-217
• /
• 2022

In the maritime digital forensic part, it is very important and difficult process that analysis of data and information with vessel navigation system's binary log data for situation awareness of maritime accident. In recent years, analysis of vessel's navigation system's trajectory information is an essential element of maritime accident investigation. So, we made an experiment about corruption with various memory device in navigation system. The analysis of corruption test in seawater give us important information about the valid pulling time of sunken ship for acquirement useful trajectory information.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2023.05a
• /
• pp.98-99
• /
• 2023

In the maritime digital forensic part, it is very important and difficult process that analysis of data and information with vessel navigation system's binary log data for situation awareness of maritime accident. In recent years, analysis of vessel's navigation system's trajectory information is an essential element of maritime accident investigation. So, we made an experiment about corruption with various memory device in navigation system. The analysis of corruption test in seawater give us important information about the valid pulling time of sunken ship for acquirement useful trajectory information.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.12 no.4
• /
• pp.285-289
• /
• 2012

In a coastal area, all of the vessels are always exposed to the potential risk, taking into the maritime accident statistics account over the last decades. To manage vessels underway safety, the characteristics of ship movements in a fairway should be recognized by VTS system or VTS operators. The IMO has already mandated the shipboard carriage of AIS since 2004, as stated in SOLAS Chapter V Regulation 19. As a result, the static and dynamic information of AIS data has been collected for vessel traffic management in the coastal areas and used for VTS. This research proposes a simple algorithm of recognizing potentially risky ships by observing their trajectories on the fairway. The static and dynamic information of AIS data are collected and the curvature for the ship trajectory is surveyed. The proposed algorithm finds out the irregularity of ship movement. The algorithm effectively monitors the change of navigation pattern from the curvature analysis of ship trajectory. Our method improves VTS functions in an intelligent way by analyzing the navigation pattern of vessels underway.

• Nuclear Engineering and Technology
• /
• v.53 no.6
• /
• pp.1810-1820
• /
• 2021

Study of single bubble behavior under rolling motions can prove useful for fundamental understanding of flow field inside the modern small modular nuclear reactors. The objective of the present study is to simulate the influence of rolling conditions on single rising bubble in a liquid using multiphase Moving Particle Semi-implicit (MPS) method. Rolling force term was added to 2D Navier-Stokes equations and a computer program was written using C language employing OpenACC to port the code to GPU. Computational results obtained were found to be in good agreement with the results available in literature. The impact of rolling parameters on trajectory and velocity of the rising bubble has been studied. It has been found that bubble rise velocity increases with rolling amplitude due to modification of flow field around the bubble. It has also been concluded that the oscillations of free surface, caused by rolling, influence the bubble trajectory. Furthermore, it has been discovered that smaller vessel width reduces the impact of rolling motions on the rising bubble. The effect of liquid viscosity on bubble rising under rolling was also investigated and it was found that effects of rolling became more pronounced with the increase of liquid viscosity.

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

• Journal of IKEEE
• /
• v.24 no.4
• /
• pp.1176-1179
• /
• 2020

Vessel path prediction methods generally predict the latitude and longitude of a future location directly. However, in the case of direct prediction, errors could be large since the possible output range is too broad. In addition, error accumulation could occur since recurrent neural networks-based methods employ previous predicted data to forecast future data. In this paper, we propose a vessel path prediction method that does not directly predict the longitude and latitude. Instead, the proposed method predicts the acceleration of the vessel. Then the acceleration is employed to generate the velocity and direction, and the values decide the longitude and latitude of the future location. In the experiment, we show that the proposed method makes smaller errors than the direct prediction method, while both methods employ the same model.

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