• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.2
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• pp.138-144
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• 2013

Large and small marine accidents which are related to vessel's navigation are happening continuously and these maritime accidents have caused loss of lives and properties, and serious maritime environmental pollution damage. It is also true that maritime pollution damage is increasing due to these accidents, probability of growth of seaborne volume and complicated maritime traffic environment. Korea, recently, is developing an evaluation index which can assess sea risk through the evaluation of maritime traffic environment and provide danger and general information with relation to maritime traffic environment on target sea area to evaluate maritime traffic safety. In this paper, we intend to confirm the validity of maritime traffic safety on the basis of vessel navigator's risk consciousness and various sailing conditions by using the ship handling simulator. To confirm the validity of sailing vessel's maritime traffic safety, we use analysis of variance. By using analysis of variance, we analyze vessel navigator's characteristics, distance, speed and encounter type between vessels. Through multiple comparison of each factor's risk difference, we can confirm the change of numerical value of risk difference in statistical aspect.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.6
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• pp.615-624
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• 2016

In this study, two rectangular barges in close proximity were simulated to analyze the characteristics of motion responses due to hydrodynamic interactions. Using a numerical solution from DNV-GL SESAM, coupled stiffness matrix terms for these same FEM models were added to the multiple body modes in the surge direction. Potential theory was used to calculate the first order radiation and diffraction effects on the simulated barge models. In the results, the sheltering effect of the barges was not shown at 1.3 rad/s with hull separation of 20 m in transverse waves. The separation effect between the barges was more clear with longitudinal waves and a shallow water depth. However, sway forces were influenced by hull separation with transverse waves. The peaks for sway and heave motion and sway force occurred at higher frequencies as hull separation narrowed with longitudinal and transverse waves. Given a depth of 10 m, the sway motion on the lee side of a coupled barge made a significant difference in the range of 0.2-0.8 rad/s with transverse and oblique waves. Also, the peaks for sway force were situated at lower frequencies, even when incident waves changed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.4
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• pp.1294-1300
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• 2010

In an environment where all nodes move, the sensor node receives anchor node's position information within communication radius and modifies the received anchor node's position information by one's traveled distance and direction in saving in one's memory, where if there at least 3, one's position is determined by performing localization through trilateration. The proposed localization mechanisms have been simulated in the Matlab. In an environment where certain distance is maintained and nodes move towards the same direction, the probability for the sensor node to meet at least 3 anchor nodes with absolute coordinates within 1 hub range is remote. Even if the sensor node has estimated its position with at least 3 beacon information, the angle ${\theta}$ error of accelerator and digital compass will continuously apply by the passage of time in enlarging the error tolerance and its estimated position not being relied. Dead reckoning technology is used as a supplementary position tracking navigation technology in places where GPS doesn't operate, where one's position can be estimated by knowing the distance and direction the node has traveled with acceleration sensor and digital compass. The localization algorithm to be explained is a localization technique that uses Dead reckoning where all nodes are loaded with omnidirectional antenna, and assumes that one's traveling distance and direction can be known with accelerator and digital compass. The simulation results show that our scheme performed better than other mechanisms (e.g. MCL, DV-distance).

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.438-444
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• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.1
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• pp.108-117
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• 2016

In this paper, a portal system compatible with MRV regulation was designed to monitoring, reporting and verifying $CO_2$ emission and fuel consumption data from an international ship. A portal system supports monitoring and reporting task of international shipping companies and calculates national greenhouse gas inventory. EU MRV law, MRV discussions of IMO, responses of international shipping companies to ship energy efficiency and greenhouse gas regulation, and greenhouse gas statistics on international shipping were analyzed to drive portal system requirements. For ship energy efficiency and $CO_2$ emitted monitoring, a data collection module was designed based on on-board equipment, energy efficiency measuring device and navigation report. Data transfer module with easy management and minimized usage to transfer ship data to shore was designed. A portal system was designed to convert the collected data into the standard reporting format, perform monitoring, statical analysis, verification and auto report generation, and support national greenhouse gas inventory.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.6
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• pp.637-645
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• 2018

This study analyzes the problem of lack of anchorage caused by some anchorage closed and suggests ways to improve Masan anchorage. For this, we established the evaluation criteria, and analysed the anchorage operating rate during 5 years after estimating the capacity of barge, and suggested improvement plan after appropriateness assessment of anchorage capacity, finally verified the anchorage improvement plan. As a result of study, it is analyzed that the Masan A-2, A-4, A-6 anchorage needs to expand the anchorage due to excess the anchorage assessment criteria of 60 %. So, in order to improve the Masan anchorage, we suggested the improvement plan that extended 1.8 times by the group designated anchorage, according to integrating the A-2, A-4, A-6 anchorage and anchorage dwell time and ship type. And, the result of verification improvement plan, it is analyzed that meet the assessment criteria since decreasing the anchorage operating rate by 1/2 compared to the existing one, does not act as a risk factor in terms of maritime traffic.

• Journal of the Korea Society of Computer and Information
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• v.24 no.12
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• pp.25-33
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• 2019

This paper presents a novel evolutionary framework for optimizing a bio-inspired fully dynamic neurocontroller for the maneuverable flapping flight of a simulated bird-sized ornithopter robot which takes advantage of the morphological computation and mechansensory feedback to improve flight stability. In order to cope with the difficulty of generating robust flapping flight and its maneuver, the wing of robot is modelled as a series of sub-plates joined by passive torsional springs, which implements the simplified version of feathers attached to the forearm skeleton. The neural controller is designed to have a bilaterally symmetric structure which consists of two fully connected neural network modules receiving mirrored sensory inputs from a series of flight navigation sensors as well as feather mechanosensors to let them participate in pattern generation. The synergy of wing compliance and its sensory reflexes gives a possibility that the robot can feel and exploit aerodynamic forces on its wings to potentially contribute to the agility and stability during flight. The evolved robot exhibited target-following flight maneuver using asymmetric wing movements as well as its tail, showing robustness to external aerodynamic disturbances.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.53 no.4
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• pp.423-429
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• 2017

As invigoration plan of the marine tourism, Busan City has the plan to operate the cruise ship inside of the harbor, but the area has narrow water way with heavy traffic. As a result it is requested to evaluate the safety for the preparation of actual navigation. In this study, the Ship Handling Simulation (SHS) Assessment was conducted, which is regulated by the Maritime Traffic Safety Audit Scheme (MTSAS) in compliance with the Marine Safety Law and the Maritime Traffic Risk Assessment System based on the Electronic Chart Display and Information System (ECDIS). The proximity assessment, control assessment and subjective assessment were implemented, which is enacted by the Marine Safety Law by using the SHS. In the case of proximity assessment, the probability of trespass was not analyzed. As the control assessment, the swept path was measured at 11.7 m and 11.5 m for port entry and port departure respectively, which exceeded the width of the model vessel, 10.4 m over; it was considered as a marginal factor. As a result of the subjective evaluation of the navigator, there would be no difficulty on ship maneuvering by paying particular attention to the mooring vessel nearby the Busan Bridge and Yeongdo Bridge as well as the coming vessel from the invisible sea area when the vessel is entering and departing the port. The Marine Traffic Risk Assessment System analyzed as [Cautious] level until the vessel passed the Busan bridge and the curved area at 5 kts and it became to [Dangerous] level from where it left 75 m to the Busan Bridge. When the vessel passed the Busan Bridge and the curved area at 10 kts and entered the narrow area, it indicated the [Dangerous] level and became to [Very dangerous] level from where it left 410 m to the Busan bridge. In conclusion, the vessel should maintain at the speed of 5 kts to reduce the risk when it passes this area.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.9
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• pp.847-851
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• 2016

Due to global warming it is estimated that the arctic ocean route will be avaliable and traffic will increase by approximately year 2030. However, most navigation in the arctic is based on the ice breaker captains'orders, there is no exact measurement of convoy speed and distance between ships. So, this research was conducted to find out the minimum safe separation distance and minimum breaking distance via ship controling simulations, and the results are as stated. For breaking distances, for ships that have a lead distance which is 2~4 times the width of the ship and traveling less than 7 knots, crash astern and crash astern & hard rudder showed no significant difference. But ships traveling at 10 knots there was a decrease in breaking distance of 1L, from 3.5L to 2.5L. By analyzing 10 subject ships by crash astern the breaking distance for 5 knots is 0.98L~1.8L, for 8 knots is 1.9L~4.0L. The minimum safe separation distance in narrow sea-ways is 6L, but as the arctic sea-way is only one-way 3L is required. As the result, it is found that in the arctic the safe escort speed is less than 5 knots, if the escort speed is 8knots or more and by using crash astern & hard rudder to break the safe distance should be kept at 3.4L.

• Journal of Korean Society for Geospatial Information Science
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• v.24 no.1
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• pp.99-107
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• 2016

Korea has been known as volcanic disaster free area. However, recent surveying result shows that Baekdu mountain located in northernmost in the Korean peninsula is not a dormant volcano anymore. When Baekdu mountain is erupting, various damages due to the volcanic ash are expected in South Korea area. Especially, volcanic ash in the air may cause big aviation accident because it can hurt engine or gauges in the airplane. Therefore, it is a crucial issue to interrupt airplane navigation, whose route is overlapped with volcanic ash, after predicting three dimensional dispersion of volcanic ash. In this paper, we deals with 3D visualization techniques for volcanic ash dispersion prediction results. First, we introduce the data acquisition of the volcanic ash dispersion prediction. Dispersion prediction data is obtained from Fall3D model, which is volcanic ash dispersion simulation program. Next, three 3D visualization techniques for volcanic ash dispersion prediction are proposed. Firstly proposed technique is so called 'Cube in the Air', which locates the semitransparent cubes having different color depends on its particle concentration. Second technique is a 'Cube in the Cube' which divide the cube in proportion to particle concentration and locates the small cubes. Last technique is 'Semitransparent Volcanic Ash Plane', which laminates the layer, whose grids present the particle concentration, and apply the semitransparent effect. Based on the proposed techniques, the user could 3D visualize the volcanic ash dispersion prediction results upon his own purposes.