• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.66-74
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• 2023

With the increase of interest in developing Maritime Autonomous Surface Ships (MASS), an optimal ship route planning is gradually gaining popularity as one of the important subsystems for autonomy of modern marine vessels. In the present paper, an optimal ship route planning model for MASS is proposed using a nonlinear MPC approach together with a nonlinear MMG model. Results drawn from this study demonstrated that the optimization problem for the ship route was successfully solved with satisfaction of the nonlinear dynamics of the ship and all constraints for the state and manipulated variables using the nonlinear MPC approach. Given that a route generation system capable of accounting for nonlinear dynamics of the ship and equality/inequality constraints is essential for achieving fully autonomous navigation at sea, it is expected that this paper will contribute to the field of autonomous vehicles by demonstrating the performance of the proposed optimal ship route planning model.

• International Journal of Computer Science & Network Security
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• v.22 no.9
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• pp.183-188
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• 2022

Recently, more and more researches aimed at the development of automated and autonomous ships are appearing in the scientific environment. One of the main reason is the need to solve the problems of safe navigation and reducing accidents due to human factor, as well as the ever-increasing problem associated with the lack of qualified maritime personnel. Development of technologies based on application of artificial intelligence also plays important role, after all for realization of autonomous navigation concept and enhancement of ship automatic maneuvering processes, advancement of maneuvering functions and elaboration of specific algorithms on prevention of close quarter situations and dangerous approach of ships will be required. The purpose of this work is the review of preconditions of occurrence of the autonomous ship navigation conception, overview of introduction stages and prospects for ship remote control based on unmanned technologies, analysis of technical and intellectual decisions of autonomous surface ships, main research tendencies. The research revealed that the technology of autonomous ship navigation requires further development and improvement, especially in terms of the data transmission protocols upgrading, sensors of navigation information and automatic control systems modernization, which allows to perform monitoring of equipment with the aim of improving the functions of control over the autonomous surface ship operation.

• Journal of Ship and Ocean Technology
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• v.7 no.2
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• pp.29-39
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• 2003

A Coanda foil is a high-lift generating device exploiting the phenomena that flow separation is delayed if a high-speed jet is applied tangential to the surface as well known to the aerodynamic fields. In the present study, a Coanda foil with a flap is investigated to seek the possibility of marine application. Model experiments are carried out both in a towing tank and cavitation tunnel and surface pressure distributions, forces and moments acting on the foil are measured at the various angle of attacks and flap angles. The results are also compared to the numerical ones to show good agreements. The results of the present study demonstrate the practical applicability of the Coanda foil in the design of ship control surfaces.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.48-57
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• 2022

In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and winds, the aircraft has risks being overturned by contact impact and excessive inclination during landing on the ship. This landing platform has four landing legs under the quadcopter for balancing and shock relief. In order to make the quadcopter balanced on ships, the position of each end effector was controlled by PID control. And shocks have mainly happened when quadcopter contacts the ship's surface as well as legs move fast. Hence, impedance control was used to cope with the shocks. The performance of the landing platform was demonstrated by a simulation and a prototype in three sea states based on a specific size of a ship. During landing and tracking the slope of the ship's surface, oscillations of rotation and translation from the shock were mitigated by the controller. As a result, it was verified that transient response and stability got better by adding impedance control in simulation models and prototype experiments.

• Journal of the Society of Naval Architects of Korea
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• v.28 no.2
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• pp.21-27
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• 1991

This paper outlines the method of formulating the bi-cubic B-spline surface of ship hull, employing the open uniform knot vector as well as the periodic uniform knot vector. An appropriate set of B-spline control vertices to generate the B-spline surface is determined by obtaining the pseudoinverse matrix of basis functions. The comparison between the given offsets and the resulting coordinates from the generated ship hull surface shows a good agreement. To check the fairness of the surface Gaussian curvature is calculated on many small subpatches and displayed on the black-and-white plot of the isoparametric net of the surface.

• Journal of Advanced Navigation Technology
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• v.22 no.6
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• pp.507-513
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• 2018

The maritime autonomous surface ship is automatically collects and manages various information necessary for the operation to minimize human intervention and safely perform the mission assigned to the ship. And the ship may autonomously operate the partial or entire route to the destination determined by the ship himself. This ship navigation technology allows partially remote control the ship to be operated if necessary. The maritime autonomous surface ship (MASS) should collect and manage signals of various navigation communication equipments and engines mounted on the ship for safe operation. This requires a common platform technology. In this paper, we propose a common platform that is the core of smart ship implementation. Territorial authorities and ships are connected by satellite or terrestrial communication. In such a communication environment, information is exchanged smoothly in real time. This allows the onshore authorities to monitor ships and provide remote control to enable safe vessel navigation at sea.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.1
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• pp.103-114
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• 2018

The operational concept of control systems on surface combatants has been changed from individual control for each system to integrated control for all systems due to computing technology development and crew reduction policy of navy. The purpose of this study is to identify current status of control technology, to analyze user requirement and to develop an architecture to support the conceptual change of ship control. An architecture, which integrates several control and monitoring systems on naval surface combatant, is proposed. The proposed architecture is focused on sharing network and computing resources related to user command, and reducing systems complexity. The architecture can be adopted to next surface combatants in Korean navy.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.380-387
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• 2011

In this paper, we considered the authoritative representation of Command and Fire Control System(CFCS) for the surface ship that was the engineering level model to develop system specifications and to analyze operational concepts on the concept design phase and to analyze military requirements, effectiveness and performance for the system. The engineering level model of CFCS can be used in simulation independently of the surface ship's type, and also it takes reuse, interoperability, and extension into consideration. The detailed sub-models, internal and external data interface, data flow among each sub-model, sensor and weapon models about the engineering level model of CFCS was defined. It was verified via engineering level simulations according to the V&V process.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.3
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• pp.306-312
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• 2019

This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.

• Journal of Hydrospace Technology
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• v.1 no.1
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• pp.41-56
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• 1995

Flew control devices, such as flow liners, are frequently introduced in a cavitation tunnel in order to reduce the tunnel blockage effect, when a three-dimensional wake distribution is simulated using a complete ship model or a dummy model. In order to estimate the tunnel wall effect and to evaluate the effect of flow liners on the simulated wake distribution, a surface panel method is adopted for the calculation of the flow around a ship model and flow liners installed in a rectangular test section off cavitation tunnel. Calculation results on the Sydney Express ship model show that the tunnel wall effect on the hull surface pressure distribution is negligible for less than 5% blockage and can be appreciable for more than 20% blockage. The flow liners accelerate the flow near the afterbody of the ship model, so that the pressure gradient there becomes more favorable and accordingly the boundary layer thickness would be reduced. Since the resulting wake distribution is assumed to resemble the full scale wake, flow liners can also be used to simulate an estimated full scale wake without modifying the ship model. Boundary taper calculation should be incorporated in order to correlate the calculated wake distribution with the measured one.