• Journal of Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.363-372
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• 2002

In ship operation, the roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization system design have been performed and good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used exclusively to stabilize the roll. But, in the roll stabilization control system, the control performance is very sensitive to the ship speed. So, we can see that it is important to consider the ship speed in the rudder roll control system design. The gain-scheduling control technique is very useful in the control problem incorporating time varying parameters which can be measured in real time. Based on this fact, in this paper we examine the;$H_{\infty}$-Gain Scheduling control design technique. Therefore, we assume that a parameter, the ship speed which can be estimated in real time, is varying and apply the gain-scheduling control technique to design the course keeping and anti-rolling control system far a ship. In this control system, the controller dynamics is adjusted in real-time according to time-varying plant parameters. The simulation result shows that the proposed control strategy is shown to be useful for cases when the ship speed is varying and robust to disturbances like wind and wave.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.2
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• pp.156-160
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• 2012

Recently, the demands of the large scale machine tools gradually increase to machine the large parts, such as large scale crankshaft, yaw and pitch bearings for the wind power generator and the vehicle or aircraft components. But the high technology is necessary in order to develop the huge machine tools. Furthermore, the global market of it has been monopolized by a few companies. So, we need to develop the large scale machine tools and study its core technology to rush into the increasing market. In this study, we carried out the researches for the important core technology of a multi-tasking, machine tool; a large scale 5-axis machine tool of gantry type for multi-task machining. This study is focused on the design of large size gantry type multi-axis machine. In the case of large size of machine the cross rail deflection in the X-axis is significant. To reduce the deflection due to the eccentric spindle head, a special hollow type design in the cross rail with outside ram is adapted in this study. Also, the Zig-Zag motion in the Y-axis is inevitable with the gantry geometry, which is by the un-balancing, different motion at the left and the right columns moving. We tried to reduce the influence of Zig-Zag motion using FEM with different loading conditions at the left and the right side column.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.2
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• pp.301-308
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• 2017

This paper proposes a disturbance observer based controller design method for generating and yawing control of windturbine with two cooperative generators. Windturbine system with two cooperative generators is a distinct structure in which the wind energy supplied by blade axis is converted into electrical energy by two cooperative generators. In this structure, two generators can be controlled independently and therefore they can generate power, simultaneously performing yawing control of nacelle without extra yawing mechanism by cooperatively controlling generating load in appropriate manner. Using this structural trait, this paper designs a disturbance observer based controller that enables the windturbine system with cooperative generators to generate and yaw stably, and verifies the performance of the controller experimentally by applying it to a small-scale windturbine system with the same structure.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.9
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• pp.708-713
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• 2013

KARI is developing a solar-electric powered HALE UAV(EAV-3). For demonstrating the technology, EAV-2H, a down-scaled version of EAV-3, is developed and after EAV-2H's initial flight test, the directional stability and control need to be improved. Thus, the vertical tail and rudder of EAV-2H are redesigned with Advanced Aircraft Analysis(AAA). Size of the rudder is increased from mean chord ratio of rudder to vertical tail, $C_r/C_v(%)=30$ to $C_r/C_v(%)=60$ and size of the vertical tail is reduced 15%. As a result, the directional control to side wind($v_1$) is improved to sideslip angle, ${\beta}(deg)=25^{\circ}$ and $v_1(m/sec)=3.54$. Also, variation of airplane side force coefficient with sideslip angle ($C_{y_{\beta}}$) and variation of airplane side force coefficient with dimensionless rate of change of yaw rate ($C_{y_r}$) are reduced 15% and 22%, respectively to minimize the effect of side wind. The empennage design of EAV-2H is verified with flight tests and applied to design of KARI's solar-electric-powered EAV-3.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.11a
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• pp.116-118
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• 2023

In recent years, the need for economical and sustainable ship routing has emerged due to the enforced regulations on environmental issues. Despite the development of weather forecasting technology, maritime accidents by rough waves have continued to occur due to incorrect weather forecasts. In this study, onboard measurements are conducted to observe the acutal situation on merchant ships in operation encountering rough waves. The types of measured data include information related to navigation (Ship's position, speed, bearing, rudder angle) and engine (engine revolutions, power, shaft thrust, fuel consumption), weather conditions (wind, waves), and ship motions (roll, pitch, and yaw). These ship experiments was conducted to 28,000 DWT bulk carrier, 63,000 DWT bulk carrier, 20,000 TEU container ship, and 12,000 TEU container ship. The actual ship experiment of each ship is intended to acquire various types of data and utilize them for multi-objective studies related to ship operation. Additionally, in order to confirm the sea conditions, the directional wave spectrum was reproduced using a wave simulation model. Through data collection from ship experiments and wave simulations, various studies could be proceeding such as the measurement for accurate wave information by marine radar and analysis for cargo collapse accidents. In addition, it is expected to be utilized in various themes from the perspective of safety and efficiency in ship operation.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.30 no.1
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• pp.13-24
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• 1994

Purse seiner detects a fish school navigating in full speed with the aid of fish finder, sonar, helicopter, etc., and casts a net quickly to enclose the fish school in purse seine net according to the movement of the fish school, wind, and current. At this moment, if the time of casting a net, direction, speed, and turning circle are net suitable, it is unavoidable to lose fish school founded with hard efforts and we only consume our efforts of casting and hauling the net. Therefore, in order to enclose the fish school to enhance the amount of fish for each casting, the author investigated the type of ships equipped with purse seiners and examined maneuvering tests so that we provide some basic information to figure out the ability of steerage correctly. The results obtained are summarized as follows: 1. Block coefficients of pelagic tuna purse seiners with gross tonnage between 500 and 1500 tons are recorded between 0.50 and 0.55 which are greater than those of off shore purse seiners recorded as between 0.44 and 0.54 and less than those of various cargo ships recorded as between 0.56 and 0.84. 2. L/B, L/D, B/D, B/T, and T/D of the class of gross tonnage between 75 and 130 tons are respectively 4.49, 11.00, 2.45, 2.85 and 0.86 as their average and those of the class of between 500 and 1500 tons are 4.89, 10.53, 2.15, 2.73 and 0.75 respectively, which are quite different from those of various cargo ships recorded as 6.0~7.5, 11.0~12.0, 1.6~2.0, 2.2~2.8 and 0.65~0.75 respectively. 3. Rudder area ratio of purse seiners of the class of between 75 and 130 tons is 1/24~1/31 and that of the clase of between 500 and 1500 tons is 1/36~1/42 which is greater than that of various cargo ships recorded as 1.45~1.75. 4. On speed-length ratio of purse seiners. 111 Dong-a has the biggest value 2.94 the class of 130 tons has 2.52 the class of between 75 and 100 tons has 2.30~2.35 and the class of between 500 and 1500 tons has 1.99~2.05. 5. Turning circle of stern trawlers Pusan 404 and Haelim 3 are measured as below according to rudder angles 5$^{\circ}$, 15$^{\circ}$, 25$^{\circ}$ and 35$^{\circ}$ respectively. Advances are 11.3~13.6, 6.0~7.1, 3.6~4.8 and 2.5~3.5 times of LPP respectively. Tactial diameters are 15.2~18.6, 6.9~8.0, 4.2~4.9 and 2.9~3.5 times of LPP. Purse seiner 111 Dong-a with rudder angle 35$^{\circ}$ has a good yaw with quick responsibility since its advance is 2.2~2.3 times of LPP and since its tactial diameter is 2.0~2.1 times of LPP. 6. In full ahead going of purse seiner 111 Dong-a, it takes about 2 minutes and 10.6 times of LPP from the reverse turning its engine into full astern to the ship speed 0. In its full astern going, it takes about 1 minute and 5.1 times of LPP from the reverse turning its engine into full ahead to the ship speed 0. In its full ahead going, it takes about 2 minutes and 50 seconds and 12.3 times of LPP from stopping its engine to the dead slow ahead speed 3.2 knots.