• 한국해양공학회지
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• 제34권3호
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.

• 한국경영과학회:학술대회논문집
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• 한국경영과학회 2001년도 추계학술대회 논문집
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• pp.290-293
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• 2001

The mid-schedule planning of the ship is making a schedule about the process from cutting to erection. The ship consists of lots of blocks. This block has different process because of the shape of the block varies in accordance with the ship-type and the part position of the ship. The type and order of each block process initially must be generated for the mid-schedule planning. In this paper, the process planning, described as above is preparing the basic information before scheduler make a plan with the prepared manhour. The scheduling is done with this process planning which includes the information of the process order. This paper shows the research about three methods to design the process planning. First, investigate the expression method about information of the process planning for the mid-schedule planning in real workplace. Second, design the object of the process planning on the basis of investigating the expression method. Finally, develop the prototype of object on the basis of this designed process planning and then find the practical use in the mid-schedule planning. The object, which is developed in this paper, contains the main algorithm. In case of developing The Mid-Schedule Planning System, this object is expected to be utilized very easily as consisting another object.

• 수산해양교육연구
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• 제21권2호
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• pp.291-305
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• 2009

As you known well, Ulsan port is very famous for handling chemical products which occupies about 80% of quantities of all Korean ports. Many ship's operators prefer to handle liquid cargo es at proper anchorages instead of the berth for saving port expenses. Ulsan M-10 anchorage was assigned for handling liquid cargoes, however this anchorage's space is restricted by the oil pipeline which lays under seabed about 400m off from the center of M-10 anchorage, for which we have to consider of the external force and counter force for keeping the safety of anchoring. Where, external force is induced by wind, tidal currents and wave while counter force is induced by holding power of anchor/chain. In this study, author evaluated a method to analyze theoretically the limit of external force condition up to which an anchoring ship can keep her position without dragging, and for which applied to many kinds of combined Ships as mother ship of 50,000 DWT Tanker and 4 sizes of Tanker as alongsided ship.

• 대한조선학회논문집
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• 제46권3호
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• pp.268-278
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• 2009

The present study focused on evaluation for the performance of the Flow Control Flat Plate (FCFP) attached in the stern side of the ship. The important function of this FCFP is to enhance the resistance performance through the decrease of stern sinkage and the propulsive performance by the adjustment of inflow velocities in the propeller plane. Two different hull forms were considered to identify the effects of the FCFP. The attachment position, the angle and the size of the FCFP were studied in this numerical simulation. In this paper, the roles of the FCFP were intended to analyze fully through the numerical interpretation.

• 한국해양환경ㆍ에너지학회지
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• 제2권2호
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• pp.78-85
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• 1999

해상에서의 수색구조를 위하여 한국 남해를 대상으로 표류물체 추적모델을 연구하였다. 본 연구의 모델에서는 환경외력 조건으로서 바람과 해수유동을 고려하였으며, 주어진 환경외력 조건에 의해 결정된 위치의 표준편차로서 수색범위를 결정하였다. 표류선박의 추적을 위한 환경외력 조건은 한국 남해와 서해에 대해 구축된 데이터베이스를 이용하여 실시간으로 예측하여 적용하였다. 본 모델에 의한 계산 결과는 실제 조난선박의 표류경로와 비교하였으며, 계산에서 예측된 표류경로 및 수색범위는 조난선박의 표류경로를 잘 재현하는 것으로 나타났다.

• 대한조선학회논문집
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• 제42권6호
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• pp.566-574
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• 2005

Reduction of a ship's rolling is the most important performance requirement for improving the safety of the crew on board and preventing damage to cargos as well as improving the comfort of the ride. A mass driving anti-rolling system (MO-ARS) might be one candidate of several systems against the ship's rolling. As the movable range of the mass on the ship is finite, the control system must include restriction on the mass position to protect the device and the ship. This restriction usually causes windup phenomenon and control performance is deteriorated seriously. Two control algorithms, anti-windup control and saturated sliding mode control, are studied in this paper. Control performance and robustness problem are checked out by numerical simulations.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2018년도 춘계학술대회
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• pp.30-31
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• 2018

선박 내부의 경우 철 구조물 특성 및 NLOS(Non-Line of Sight) 환경에 의하여 심한 RF 간섭이 발생하기 때문에 실내 위치 측정에 어려움이 있다. 본 논문에서는 선박 내부 환경에서 측위 정확성을 높이기 위해 ZigBee, UWB, LF 기술들을 이용하는 무선 복합 측위 시스템을 제안하고 실제 선박 환경에 적용하여 특성을 검증하였다. 제안된 시스템은 LF 기술을 이용하여 층간 구분을 하고, 선박 내부에 설치된 다수의 AP로부터 ZigBee, UWB 위치 데이터를 수집해 선박 내부 공간 유형에 따라 선택적으로 알고리즘을 적용하여 위치를 측정하고 편의 서비스 및 구조 지원 서비스를 제공 할 수 있다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 춘계학술대회 및 창립 30주년 심포지엄(논문집)
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• pp.411-415
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• 2006

세계적인 항만환경의 변화는 매우 빠르게 변하고 있고, 항만들은 물동량을 선점하고 비즈니스 거점확보를 위한 경쟁을 가속화하고있다. 특히 급성장하고 있는 중국과 경제대국 일본 사이에서 우리나라가 21세기 동북아의 물류중심국가로 확고하게 자리잡기 위해서는 항만물류산업의 활성화가 매우 중요한 시점이다. 본 연구에서는 항만물류산업의 한 분야인 선용품 공급업을 대상으로, 업무실태와 문제점등을 살펴본 후, 선용품 유통센터 건립의 타당성을 도출하고자 한다. 또한, 향후 선용품 유통센터 설립을 위한 요인들을 조사하여 센터건립의 최적화 입지를 분석하고자 한다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권3호
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• pp.435-451
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• 2015

Evaluation of the performance of aging structures is essential in the oil and gas industry, where the inaccurate prediction of structural performance can have significantly hazardous consequences. The effects of structure failure due to the significant reduction in wall thickness, which determines the burst strength, make it very complicated for pipeline operators to maintain pipeline serviceability. In other words, the serviceability of gas pipelines and elbows needs to be predicted and assessed to ensure that the burst or collapse strength capacities of the structures remain less than the maximum allowable operation pressure. In this study, several positions of the corrosion in a subsea elbow made of API X42 steel were evaluated using both design formulas and numerical analysis. The most hazardous corrosion position of the aging elbow was then determined to assess its serviceability. The results of this study are applicable to the operational and elbow serviceability needs of subsea pipelines and can help predict more accurate replacement or repair times.

• 한국해양공학회지
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• 제34권6호
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• pp.377-386
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• 2020

This paper discusses the effectiveness of onboard measurements and data extracted from weather information for speed-power analysis. Furthermore, validation results of hull and propeller cleaning and painting during dry-docking are discussed. Wind and wave information can be obtained from onboard measurements or weather information from the National Oceanic and Atmospheric Administration (NOAA). The weather information of a specified position and time is extracted from NOAA weather data and compared with onboard measurements. In addition, to validate the effects of hull cleaning and painting during dry-docking, speed-power analysis results of before and after dry-docking are compared. The results show that both onboard measurements and weather information show acceptable reliability when added resistance and speed-power analysis results are compared with each other. Moreover, the ship performance analysis (SPA) software clearly shows the effects of hull cleaning and painting, and it can provide reliable analysis results with either onboard measurements or weather information. In conclusion, it is confirmed that the analysis method and SPA software used in this study are effective in analyzing the ship's speed-power performance.