• Journal of KIISE:Computing Practices and Letters
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• v.9 no.6
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• pp.674-682
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• 2003

Ship autonomous navigation is designated as what computerizes mental faculties possessed of navigation experts, which are building navigation plans, grasping the situation, forecasting the fluctuation, and coping with the situation. An autonomous navigation system, which consists of several subsystems such as navigation system, a collision avoidance system, several data fusion systems, and a motion control system, is based on an intelligent control architecture for the sake of integrating the systems. The motion control system, which is one of the most essential system in autonomous navigation system, controls its propulsion and steering gears to move the ship satisfying its hydrodynamic characteristics. This paper is the study on the ship movement control system and its implementation which are totally developed and run on virtual-world system. Receiving the high-level control values such as a waypoint presented from the collision avoidance system, the motion control system generates them to low-level control values for propulsion and steering devices. In the paper, we develop a ship motion controller using Oldenburger's theory based on mathematical fundamentals, and simulate it with various scenarios in order to verify its performance.

• Journal of Navigation and Port Research
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• v.43 no.4
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• pp.237-242
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• 2019

Behavioral errors of the seafarers are one of the major causes of collisions and are usually corrected through education and training. To correct this behavioral error, the structure in which the behavioral error occurs needs to be identified and analyzed. For this purpose, behavior observation data were obtained through ship maneuvering simulation for collision encounters. The 9-state behavior classification frame proposed by Reason was used for the behavior observation and 50 university students were involved in the experiment. Behavioral analysis used the behavioral model of collision avoidance success and failure, which was developed from the 9-state Left-to-Right Hidden Markov modeling technique. As a result of the experiment, the difference between behaviors of success and failure of collision avoidance was clearly identified, and the linkage between 9-state behaviors, required to prevent collision, was derived.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2013.10a
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• pp.167-170
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• 2013

The objective of this paper is to describe the result of development of collision avoidance supporting system, based on the electronic chart display and information system(ECDIS). In real ship operations, collision accidents happen frequently due to human errors such as the lax vigilance, misinterpretation of international regulations for preventing collisions at sea (COLREGs). We developed a system which will help to avoid these kind of accidents. This system can automatically recognize the risk of collisions, generate the safe alternative routes that comply with COLREGs, and then deliver the results into auto pilot. A virtual simulation assuming progressive collision situations revealed the usefulness of this system.

• Journal of Navigation and Port Research
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• v.27 no.2
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• pp.103-109
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• 2003

Evaluating the risk of collision quantitatively plays a key role in developing the expert system of navigation and collision avoidance. This study analysed the existing methods of appraising the collision risk, examined the problem that are intrinsic to them, and developed a new approach to its evaluation by using the sech function as an alternative to them. This paper applied the new method in appraising the collision risk and suggested how to decide the safe range of ownship's action.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.6
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• pp.798-807
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• 2021

In the era of the fourth industrial revolution, Maritime Autonomous Surface Ship(MASS) are expected to emerge in the shipping industry. There has been much active research on collision avoidance systems regarding MASSs, but most of it has focused on merchant ships. A study of collision avoidance systems in fishing vessels is also essential, because Maritime Autonomous Surface Ships will encounter all type of vessels. In this study, the minimum passage distance between small-medium-sized fishing vessels and other vessels was investigated for the Ship's domain analysis. Based on the AIS data of Busan port and the adjacent area, the separation distances of fishing vessels were analyzed. The results indicated that as the speed of fishing vessels increased, the distance increased from 4L to 8L, and as length of the fishing vessels increased, the distance decreased from 10L to 6L. It is believed that the results of this study can be applied in the future to collision avoidance models for MASSs that reflect the domain of fishing vessels.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.1
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• pp.36-42
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• 2018

This paper considers the Marine Traffic Risk Assessment for fixed and moving targets, which threaten officers during a voyage. The Collision Risk Assessment Formula was calculated based on a dynamic ship domain considering the length, speed and maneuvering capability of a vessel. In particular, the Navigation Risk Assessment Model that is used to quantitatively index the effect of a ship's size, speed, etc. has been reviewed and improved using a hybrid combination of a vessel's dynamic area and the Collision Risk Assessment Formula. Accordingly, a new type of Marine Traffic Risk Assessment Model has been suggested giving consideration to the Speed Length Ratio, which was not sufficiently reflected in the existing Risk Assessment Model. The larger the Speed Length Ratio (dimensionless speed), the higher the CJ value. That is, the CJ value is presented well by the Speed Length Ratio. When the Speed Length Ratio is large, states ranging from [Caution], [Warning], [Dangerous] or [Very Dangerous] are presented from a greater distance than when the Speed Length Ratio is small. The results of this study, can be used for route and port development, including dangerous route avoidance, optimum route planning, breakwater width, bridge span, etc. as well as the development of costal navigation safety charts. This research is also applicable for the selection of optimum ship routing and the prevention of collisions for smart ships such as autonomous vessels.

• Journal of Navigation and Port Research
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• v.33 no.9
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• pp.603-608
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• 2009

In this paper, a 3m-class free running model ship will be introduced with its manoeuvring performance experiments. The results of turning circle test and zig-zag test will be explained. The developed system are equipped with GPS, main control computer, wireless LAN, IMU (Inertial Measurement Unit), self-propulsion propeller and driving rudder. Its motion can be controlled by RC (Radio Control) and wireless LAN from land based center. Automatic navigation is also available by pre-programmed algorithm. The trajectory of navigation can be acquired by GPS and it provides us with important data for ship's motion control experiments. The results of manoeuvring performance experiment have shown that the developed free running model ship can be used to verify the test of turning circle and zig-zag. For next step, other experimental researches such as ship collision avoidance system and automatic berthing can be considered in the future.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.35 no.1
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• pp.25-34
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• 1999

The Steering and Sailing Rules of International Regulation for Preventing Collisions at Sea now in use direct actions to avoid collision when two power-driven vessels are meeting on reciprocal or nearly reciprocal courses so as to involve risk of collision. But these rules do not refer to the minimum relative distances and safety relative distances between two vessels when they should take such actions.In this paper the ship's collision avoiding actions being analyzed from a viewpoint of ship motions, the mathematical formulas to calculate such relative distances necessary for taking actions to avoid collision were worked out. The values of maneuvering indices being figured out through experiments of 20 actual ships of small, medium, large and mammoth size and applied to calculating formulas, the minimum relative distances and safety relative distances were calculated. The main results were as follows. 1. It was confirmed that the criterion elements for collision avoiding actions in head-on situation of two vessels shall be the minimum relative distances and safety relative distances between them. 2. On the assumption that two vessels same in size and condition were approaching each other in head-on situation, the minimum relative distance of small vessel(GT : 160~650tons) was found to be about 4.7 times her own length, and those of medium (GT:2,300~4,500tons),large(GT:15,000~62,000tons) and mommoth (GT:91,000~194,000tons) vessels were found to be about 5.2 times, about 5.2 times and about 6.1 times their own lengths respectively. 3. On the assumption that two vessels same in size and condition were approaching each other in head-on situation, the safe relative distance of small vessel (GT : 160~650tons) was found to be about 6.8 times her own length, and those of medium (GT : 2,300~4,500tons), large (GT: 15,000~62,000tons) and mammoth (GT : 91,000~194,000tons) vessels were found to be about 9.0 times, about 6.3 times, and about 8.0 times their own lengths respectively. 4. It is considered to be helpful for the safety of ship handling that the sufficient safe relative distances for every vessels shall be more than about 12~14 times which are 2 times minimum relative distance, their own length on above assumption.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.45 no.2
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• pp.106-113
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• 2009

For the safety and cost reduction in the navigation, the automatic and intelligent system has been developed for the vessel, and the most important factor in the system is to decide the collision risk exactly. In this paper, we propose an advanced collision risk decision system for collision avoidance of the system. The conventional researches using DCPA and TCPA for calculating the collision risk have a problem to produce a same collision risk regardless of bearings for the ships, if they are located in the same distance from own ship. To solve this problem, in addition to DCPA and TCPA, we introduce the factor of VCD(variation of compass degree) and constant, CR which derived from COLREG'72(International Regulation for Preventing Collision at Sea, 1972) for evaluating the collision risk including even the burden of own ship navigator due to the encountering angle of each vessels. We decided the collision risk legally by the rule considering the relative situation of vessels. And therefore, the proposed system has two advantages, of which one is to produce more detail collision risk and another is to reflect the real underway situation in conformity with the rule.

• Journal of Navigation and Port Research
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• v.34 no.6
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• pp.405-415
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• 2010

To assess the possible collision risk between Mokpo Harbour Bridge, which is under construction, and passing vessels, we proposed Real-Time Bridge-Vessel Collision Model (RT-BVCM) in this paper. The mathematical model of RT-BVCM consists of the causation probability by the vessel aberrancy due to navigation environments, the geometric probability by the structural feature of a bridge relative to a ship size and, the failure probability by the ship collision track and the stopping distance which is not to come to a stop before hitting the obstacles. Then, the probabilistic mathematical model represented as risk index with the risk level from 1 to 5. The merit of the proposed model to the collision model proposed by AASHTO (American Association of State Highway and Transportation Officials) is that it can provide enough time to take adequate collision avoiding action. Through the simulation tests to the two kinds of test ships, 3,000 GT and 10,000 GT, it is cleary found that the proposed model can be used as a collision evaluation model to the passing vessel and Mokpo Harbour Bridge.