• The Journal of the Acoustical Society of Korea
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• v.30 no.1
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• pp.9-16
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• 2011

When a hydrofoil ship plies at high speed, there exist possibilities of collision with ocean mammals dwelling near the surface. An active sonar located within the immersed hydrofoil structure that provides the lift for the vessel, can be used for early warning of their presence. The proper functioning of the active sonar system depends on its ability to reject noise and pick up the target signal. In this article, we measured the noise on a hydrofoil of an operating ship with two flush-mounted hydrophones. The measurements were conducted for the purpose of (1) identifying the effect of operating state of machinery likes engine, cooler and generator (2) observing the change of noise depending on the measuring position (3) observing the change of noise with increasing ship speed. To verify our experiment, experiments were performed three times and the measured results are compared with other investigations and they show similarity to each other. The results are analyzed with frequency domain in order to apply to operating active sonar detecting system and focus on high frequency band within sonar's operating frequency region. Through these experiments and analysis, it is expected that we can identify the generated noise around hydrofoil where active sonar is installed and these results lead us to design active sonar that could distinguish target signal from noise more effectively.

• Journal of the Korean Society for Marine Environment & Energy
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• v.12 no.1
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• pp.15-22
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• 2009

Auto-navigation algorithm have been studied to avoid collision and grounding of a ship due to human error. There have been many research on collision avoidance algorithms but they have been validated little on the real coastal traffic situation. In this study, a Collision Avoidance algorithm is developed by using Fuzzy algorithm and the concept of Changeable Action Space Searching (CAS). In the first step, on a basis of collision risk calculated from fuzzy algorithm in the current time(t=to), alternative Action Space for collision avoidance is planned. In the second step, next alternative Action Space for collision avoidance in the future($t=to+{\Delta}t$) is corrected and re-planned with re-evaluated collision risk. In the third step, the safest and most effective course among Action Space is selected by using optimization method in real time. In this paper, the main features of the developed collision avoidance algorithm (CAS) are introduced. CAS is implemented in the ship-handling simulator of MOERI. The performance of CAS is tested on the situation of open sea with 3 traffic ships, whose position is assumed to be informed from AIS. Own-ship is fully autonomously navigated by autopilot including the collision avoidance algorithm, CAS. Experimental results show that own-ship can successfully avoid the collision against traffic ships and the calculated courses from CAS are reasonable.

• Journal of Navigation and Port Research
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• v.27 no.1
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• pp.41-48
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• 2003

The most great GPS is working on CNS(Car navigation System) and Personal terminal, but ocean has not been. First studied GPS is sailing to ship but We have been connivance that The ship is not need detail navigation. Lately, harbor facilities and transportation service in harbors are complication. We have need accurate ship navigation system. In this paper, author developed algorithms of ellipsoid conversion between WGS84 and BESSEL and develope algorithms of map projection between ellipsoid coordinate system, and plane cartesian system. Author used 3-parameter in covering ellipsoids and used TM and UTM projection in converting between ellipsoid and plane cartesian coordinate. And author analyzed errors through static surveying and dynamic surveying of GPS for proving accuracy of GPS sensor, Furthermore author analyzed deflection error of received position. Finally author developed real time ship navigation system using cheep GPS sensor.

• Journal of Korea Port Economic Association
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• v.28 no.3
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• pp.167-192
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• 2012

The purpose of the study aims to analyse the judgement criterion of arrived ship under voyage charterparty with the Merida Case. A ship is an arrived ship if she is in port and either able to proceed immediately to a berth or in such a position that she is at the immediate and effective disposition of the chaterparty. Identification of the specified destination-whether berth or port-impacts on the incidence of loss occasioned by delay in loading or discharging, when the delay is due to the place at which the vessel is obliged by the terms of the charterparty to load or discharge her cargo being occupied by other shipping. The Merida case is an appeal by the charterers from a final Arbitration award of two very experienced arbitrators, dated 20th April, 2009. The arbitrators held that a voyage charterparty, dated 5th February, 2007, of the vessel, The M/V Merida, entered into between charterers and the owners, was a port rather than a berth Charterparty. The Primary relevance of this distinction does to the allocation, as between owners and charterers, of the risk of delay caused by congestion at load and discharge ports. The question of law arising in this appeal is whether the arbitrators were right to conclude that the charterparty was a port and not a berth charterparty. The arbitrators additionary placed some reliance on a post-contractual e-mail from the agents, which suggested that charterers did not dispute the validity of the NOR-and, hence, that this was a port charterparty.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.7
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• pp.980-991
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• 2023

To prevent accidents near the quay caused by a ship, ports are generally designed and constructed through navigation and berthing safety assessment. However, unpredictable accidents such as ship collisions with the quay or personal accidents caused by ropes still occur sometimes during the ship berthing or mooring process. Automatic mooring systems, which are equipped with an attachment mechanism composed of robotic manipulators and vacuum pads, are designed for rapid and safe mooring of ships. This paper deals with a displacement and velocity measurement system for the automatic mooring device, which is essential for the position and speed control of the vacuum pads. To design a suitable system for an automatic mooring device, we first analyze the sensor's performance and outdoor environmental characteristics. Based on the analysis results, we describe the configuration and design methods of a displacement and velocity measurement system for application in outdoor environments. Additionally, several algorithms for detecting the sensor's state and estimating a ship's velocity are developed. The proposed method is verified through some experiments for displacement and speed measurement targeted at a moving object with constant speed.

• Journal of the Korean Society of Marine Environment & Safety
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• v.17 no.1
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• pp.69-73
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• 2011

Unlike land fires, Fires on board a ship are not likely to be extinguished by skilled human resources using a variety of fire fighting equipments, but have to be brought under control on board a ship itself despite of difficult task. There are more cases of deaths from suffocation by smoke than from an increased temperature by heat in fires on board ships, because crew fail to secure a sufficient visibility range enough to escape from the scene of a fire or to leave the ship as early as possible. On the assumption that the height of ship's accommodation area increases from 2.0m to 2.3m comparable to the height of apartments on the ground in Korea, behaviors of fire smokes between the cases of 2.0m and 2.3m heights were compared and analyzed. Based on the blue print of the existing Training Ship "Hanbada", a new blueprint with the 30 cm height adjustment was additionally created. FDS (Fire Dynamic Simulator), which was created by the NIST in the United States and is the most widely distributed simulator for fires, was used to conduct a simulation and predict results. The results of simulation on the basis of temperature of $60^{\circ}C$ showed a safe evacuation period of time at the position 10m apart from the scene of a fire to increase by 55.8 seconds, when the height of ship's accommodation area increased from 2.0m to 2.3m. The results of simulation on the basis of visibility range of 6m showed the safe evacuation periods of time at the positions 10m, 20m and 30m apart from the scene of a fire to increase by 27.1 seconds, 109.2 seconds and 73.3 seconds, respectively, as the height of ship's accommodation area increased from 2.0m to 2.3m. This means that crew can escape more safely from a scene of fires on board when the height of ship's accommodation area is increased and equal to the height of living room in a building on land.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.29 no.1
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• pp.21-29
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• 1993

The magnetic compass as a principal navigational instrument has been long used to fix ship's position and to determine ship's course. Particularly, in the small fishing vessels the studies on performance and rational usages for magnetic compass are requried to improve the safety and productivity of the small fishing vessels even though gyro compass is developed nowadays. For this purpose, the author examined the present condition of the magnetic compasses which are intalled on 219 small fishing vessels, and carried out a series of performance survey for each compass of them and also found the measured values of deviation by installation position of compass, respectively. The results obtained are summarized as follows: 1. The small fishing vessels less than 4 tons among the 219 small fishing vessels from 1 to 10 tons investigated were 50% of them. Only 1% of them were equipped with the deviation correctors, and 14 fishing vessels used the magnetic compasses which are more than 20 years old. 2. According to the compass installation position, the measured values of the deviation of the compass installed on the top bridge and the compass bed in bridge were ascertained to be the smallest, and those values of the compass installed on the bridge deck above engine room were larger and irregular. 3. The concomitant angle of the magnetic compasses installed on the experimented 4 fishing vessels were measured to be 6$^{\circ}$ to 16$^{\circ}$ and not accorded with the Korean standard values.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.251-257
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• 2021

An underwater platform operating a passive sonar needs to acquire the target position to perform its mission. In an environment where sea-floor reflections exist, the position of a target can be estimated using the difference in the arrival time between the signals received through multipaths. In this paper, a method of localization for passive sonar is introduced, based on the EKF (Extended Kalman Filter) using the multipath time difference of arrival in underwater environments. TMA (Target Motion Analysis) requires accumulated measurements for long periods and has limitations on own-ship movement, allowing it to be used only in certain situations. The proposed method uses an EKF, which takes measurements of the time differences of the signal arrival in multipath environments. The method allows for target localization without restrictions on own-ship movement or the need for an observation time. To analyze the performance of the proposed method, simulation according to the distance and depth of the target was performed repeatedly, and the localization error according to the distance and water depth were analyzed. In addition, the correlation with the estimated position error was assessed by analyzing the arrival time difference according to the water depth.

• Journal of the Society of Naval Architects of Korea
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• v.38 no.2
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• pp.33-43
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• 2001

The design and construction of special purpose vessels such as drillship and shuttle tankers have been increased. These vessels install the DPS(dynamic positioning systems) to maintain the position and heading for long-time operation. This paper deals with the experimental method for model-based DP system and the control theory and filter algorithms. In this experiment, the length of model ship is 4 meters and it has three thrusters to maintain the position. The ability of tracking along the given course and keeping of heading in waves are confirmed. For the calculation of thruster input the PID control theory are adopted and the effects of PID gain were investigated. To estimate the low frequency motions Kalman filter and digital filter were used and their effects were investigated.

• Journal of Ocean Engineering and Technology
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• v.32 no.2
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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.