• 한국해양공학회지
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• 제32권2호
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• pp.138-142
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• 2018

The marine industry is rapidly developing as a result of the increase in various needs in the marine environment. In addition, accidents involving ship fires and explosions and the resulting casualties are increasing. Generally, manpower and safety problems exist in fire fighting. A fire fighter in the form of an autonomous surface robot would be ideal for marine fire safety, because it has no manpower and safety problems. Therefore, an autonomous surface robot with the abilities of fire recognition and tracking, nozzle selection, position and attitude control, and fire fighting was developed and is discussed in this paper. The test and evaluation results of this robot showed the possibility of real-size applications and the need for additional studies.

• Journal of Ship and Ocean Technology
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• 제8권4호
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• pp.1-9
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• 2004

High lifting devices used for control purposes have received much attention in the marine field. Hydrofoils for supporting the hull, roll stabilizer fins for developing the motion damping performance, rudders for maneuverability are the well-known devices. In the present study, the ability of the rudder with flap to produce high lift was analyzed. The boundary layer control, one of the flow control techniques, was adopted. Especially, to build the blown flap, a typical and representative type of a boundary layer control, a flapped rudder was designed and manufactured so that it could eject the water jet from the gap between the main foil and the flap to the flap surface tangentially. And it was tested in the towing tank. Simultaneously, to know the information about the 2-dimensional flow field, a fin model with similar characteristics as the rudder model applicable for the motion control was made and tested in the cavitation tunnel. In addition, local flow measurements were carried out to obtain physical information, for example, a surface pressure measurement and flow visualization around the flap. And CFD simulation was used to obtain information difficult to collect from the experiment about the 2-dimensional flow.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2022년도 춘계학술대회
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• pp.187-189
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• 2022

As the structure and operation method of MASS(Maritime Autonomous Surface Ship) are discussed accroding to the IMO degree, the interest and necessity for remote operators who manage and supervise the operation of MASS are increasing gradually. The form of MASS operation is clearly accompanied by various changes including new technologies and equipment in comparison with the current operation of ship. In IMO Degree 2 and 3, the capabilities that remote operators who will operate them must differ from those of existing seafarers(navigation officers, engineers and ratings). Regarding this remote operation, the NI(Nautical Institute) is the first in the world to present a syllabus and a curriculum of qualification for remote operator. Based on this, the paper introduces and compares the education model of MASS remote control operation and NI model, and further uses it as basic data for the creation of curriculum for future MASS remote operator.

• 대한조선학회논문집
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• 제37권2호
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• pp.109-117
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• 2000

선형개발을 위해서는 다양한 많은 모형이 필요하며, 자유곡면으로 구성된 여러 가지 선체형상을 완전히 수작업으로 제작하기에는 어렵고, 많은 오차를 내포한다. 고가의 모형삭성기를 대체할 수 있는 자유곡면 가공기계 개발의 초기단계로서 선체형상을 위한 자유곡면 모델링 및 모형 자동 가공 CAD/CAM시스템을 개발 제작하고자 한다. 본 논문에서는 선체형상을 기존의 방법과는 달리 자료점을 조정점으로 가정하는 방법을 사용하는 NURBS로 정의하였고, 정의된 선체형상을 부드러운 3차원 곡면으로 가시화하였다.

• 대한조선학회논문집
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• 제58권2호
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• pp.121-128
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• 2021

According to the increasing interest and demand for the Autonomous Surface Vessels (ASV), the autonomous navigation system is being developed such as obstacle detection, avoidance, and path planning. In general, autonomous navigation algorithm controls the ship by detecting the obstacles with various sensors and planning path for collision avoidance. This study aims to construct and prove autonomous algorithm with integrated various sensor using the Robot Operating System (ROS). In this study, the safety zone technique was used to avoid obstacles. The safety zone was selected by an algorithm to determine an obstacle-free area using 2D LiDAR. Then, drift angle of the ship was controlled by the propulsion difference of the port and starboard side that based on PID control. The algorithm performance was verified by participating in the 2020 Korea Autonomous BOAT (KABOAT).

• 대한조선학회논문집
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• 제30권2호
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• pp.66-75
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• 1993

캐비테이션 터널에서 모형선 혹은 부분모형선을 사용하여 3차원 반류분포를 재현시키고자 할 때, 유동조절체를 사용하여 터널 위벽효과(Tunnel wall effect)를 감소시키는 경우가 있다. 유동조절체가 선미후류 유동에 미치는 영향과 터널 위벽효과를 해석하기 위하여 직사각형 단면의 시험부에 설치되어 있는 모형선과 유동조절체 주위 유동을 표면양력판 이론을 사용하여 해석하였다. Sydney Express 모형선 주위 유동에 대한 계산결과에 의하면 선체 표면 압력분포에 미치는 캐비테이션 터널의 위벽효과는 막음비(Blockage)가 5% 이내인 경우에는 무시할 정도이며, 막음비가 20% 이상인 경우에는 상당히 큼을 알 수 있다. 유동조절체를 선미 부근 터널벽에 설치함으로써 선미 유동중 축방향속도가 증가되었으며, 선체표면에서의 압력구배(pressure gradient)는 선미 경계층의 두께가 덜 증가되는 방향으로 변화되었음을 알 수 있었다. 유동조절체를 설치하여 재현된 반류분포는 등속도곡선의 폭이 좁아지기 때문에 추정된 실선반류 분포를 재현하기 위하여 유동조절체를 사용하는 경우가 있다. 표면양력판에 의해 계산된 반류분포는 이상유체 가정을 토대로 계산되었기 때문에 계측된 반류분포와의 차이를 보정하기 위해서는 경계층 계산이나 점성유동계산이 필요하다.

• 한국해양공학회지
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• 제30권1호
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• pp.18-24
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• 2016

Stabilizer fins are installed on each side of a ship to control its roll motion. The most common stabilizer fin is a rolling control system that uses the lift force on the fin surface. If the angle of attack of a stabilizer fin is zero or the speed is zero, it cannot control the roll motion. The Coanda effect is well known to generate lift force in marine field. The performance of stabilizer fin that applies the Coanda effect has been verified by model tests and numerical simulations. It was found that a stabilizer fin that applied the Coanda effect at Cj = 0.085 and a zero angle of attack exactly coincided with that of the original fin at α = 26°. In addition, the power needed to generate the Coanda effect was not high compared to the motor power of the original stabilizer fin.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2619-2621
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• 2001

This study proposes a new efficient MAC(media access control) protocol to establish the ultrasonic communication network for under water vehicles, which ensures a certain level of maximum throughput regardless of the propagation delay of ultrasonic and allows fast data transmission through the multiple ultrasonic communication channel. In this study, a media access control protocol for underwater communication network that allows 'peer-to-peer' communication between a surface ship and multiple underwater system is designed, and the proposed control protocol is implementde for its verification.

• 한국항해항만학회지
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• 제28권1호
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• pp.43-49
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• 2004

결함검사는 생산공정에 있어서 상품의 디자인과 함께 매우 중요한 부분으로서, 상품의 경쟁력을 높이는데 필수 불가결한 것이다. 만약, 실시간 결함검출이 상품에 대한 어떤 손상도 없이 할 수 있다면, 품질 및 공정의 효율적 관리와 고비용 인력의 절감을 통하여 생산원가를 줄일 수 있다. 본 논문에서는 철판과 같은 표면에 결함이 있는 경우 필요한 정보만을 추출할 수 있는 3가지 공간필터법에 대하여 제안하였고, 공간필터의 특성을 통하여 결함검출 시스템을 구성하였다. 그리고, 최적의 표면결함 계측용 공간필터법을 개발하기 위하여 결함의 크기와 형태, 광도의 크기 및 외부 광간섭 그리고 슬리트의 개수와 같은 파라메타의 변화에 따른 측정 성능을 비교 및 분석하였다.

• 동력기계공학회지
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• 제16권2호
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• pp.66-74
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• 2012

In this paper, the authors propose a new approach to control a barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. However sometimes the thrust systems are installed on it, and in general the rope control by mooring winch system is used. It may be difficult to compare the control performances of two types. If we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a DPS design problem which can be extended to the many application fields. The goal of this paper is twofold. First, the sliding mode controller (SMC) for positioning the our vessel is proposed. Especially, in this paper, a robust stability condition is given based on descriptor system representation. In the result, the sliding mode control law guarantees to keep the vessel in the defined area in the presence of environmental disturbances. And second, the thrust allocation problem is solved by using redistributed pseudo-inverse (RPI) algorithm to determine the thrust force and direction of each individual actuator. The proposed approach has been simulated with a supply vessel model and found work well.