• Journal of the Society of Naval Architects of Korea
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• v.56 no.1
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• pp.75-81
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• 2019

This study presents an automatic collision avoidance algorithm for autonomous navigation of unmanned surface vessels. The performance of the collision avoidance algorithm is heavily dependent on the estimation quality of the course and speed of traffic ships because collision avoidance maneuvers should be determined based on the predicted motions of the traffic ships and their trajectory uncertainties. In this study, the collision avoidance algorithm is implemented based on the Probabilistic Velocity Obstacle (PVO) approach considering the maritime collision regulations (COLREGs). In order to demonstrate the performance of the proposed algorithm, an extensive set of simulations was conducted and the results are discussed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.470-471
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• 2011

As the increase in maritime traffic and leisure, the marine accident risk has increased in the domestic coast. In this paper, we propose an anti-collision system between vessels using the shortest distance and the time to reach the distance in maritime. the shortest distance and the time to reach the distance calculated with vector analysis using AIS information, a prototype is implemented for smartphone application.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.7
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• pp.1026-1031
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• 2002

In this Paper, We analysed the technical characteristics of a automatic identification system that will introduce in aviation and marine radio stations. IMO's Marine Safety Committee approved revision of chapter V of the Safety of Life at Sea(SOLAS) Convention in 73rd meeting. According to this, AIS will become a mandatory carriage requirement by 01 July 2002. AIS as a surveillance system continuously receives its own position from the GNSS and then repeatedly broadcasts it on a W:.u data link for avoiding traffic conflicts and possible disasters. VHF data link is organized so that a specified number of time slots make up a repeatable frame. Each radio station can autonomously allocate and deallocate slots within the frame using selection algorithm which is called SOTDMA(Self-Organized Time Division Multiple Access). The results can be an aid in the continued of understanding technical characteristics for AIS as a broad surveillance system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2002.11a
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• pp.187-191
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• 2002

In this paper, We analysed the technical characteristics of a automatic identification system that will introduce in aviation and marine radio stations. IMO's Marine Safety Committee approved revision of chapter V of the Safety of Life at Sea(SOLAS) Convention in 73rd meeting. According to this, AIS will become a mandatory carriage requirement by 01 July 2002. AIS as a surveillance system continuously receives its own position from the GNSS and then repeatedly broadcasts it on a VHF data link for avoiding traffic conflicts and possible disasters. VHF data link is organized so that a specified number of time slots make up a repeatable frame. Each radio station can autonomously allocate and deallocate slots within the frame using selection algorithm which is called SOTDMA(Self-Organized Time Division Multiple Access). The results can be an aid in the continued of understanding technical characteristics for AIS as a broad surveillance system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.10a
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• pp.16-18
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• 2010

현재 우리나라에서 해상 수송은 무역 수 출입의 90%이상을 담당하고 있으며, 지정학적인 측면에서도 많은 중요한 역할을 하고 있다. 해상에서의 교통시스템 기능이 안정적으로 유지되고, 더욱 발전되기 위해서 무엇보다 연안 해역에서의 선박 교통에 대한 정확한 이해가 필요하다. 본 논문에서는 선박별 항적과 같은 선박 교통의 자료들을 기초로 하여, 우리나라의 각 수역별로 선박 흐름을 재현해 보는 연구를 수행하였다. 구체적으로 선박종류 항로특성 실제교통량 등을 해상 교통의 구성요소별로 분류하고, 자동피항 기능을 포함한 다수 선박간의 흐름을 재현하는 프로그램을 개발하였다. 개발된 프로그램은 목포항의 선박교통 자료를 기본으로 시뮬레이션을 실시하여 검증하였다. 또한 개발된 모델을 수역의 교통안전성 예측, 항로내 시설물 설치시 적정성 문제 등에 적용가능한 지를 고려하였다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.5
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• pp.462-469
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• 2023

In this study, we propose a method for evaluating the risk of collision between ships to support determination on the risk of collision in a situation in which ships encounter each other and to prevent collision accidents. Because several uncertainties are involved in the navigation of a ship, must be considered when evaluating the risk of collision. We apply the Dempster-Shafer theory to manage this uncertainty and evaluate the collision risk of each target vessel in real time. The distance at the closest point approach (DCPA), time to the closest point approach (TCPA), distance from another vessel, relative bearing, and velocity ratio are used as evaluation factors for ship collision risk. The basic probability assignments (BPAs) calculated by membership functions for each evaluation factor are fused through the combination rule of the Dempster-Shafer theory. As a result of the experiment using automatic identification system (AIS) data collected in situations where ships actually encounter each other, the suitability of evaluation was verified. By evaluating the risk of collision in real time in encounter situations between ships, collision accidents caused by human errora can be prevented. This is expected to be used for vessel traffic service systems and collision avoidance systems for autonomous ships.

• Journal of the Society of Naval Architects of Korea
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• v.58 no.3
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• pp.191-197
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• 2021

This study addresses autonomous ship collision avoidance in narrow channels using curvilinear coordinates. Navigation in narrow channels or fairways is known to be much more difficult and challenging compared with navigation in the open sea. It is not straightforward to apply the existing collision avoidance framework designed for use in the open sea to collision avoidance in narrow channels due to the complexity of the problem. In this study, to generalize the autonomous navigation procedure for collision avoidance in narrow channels, we introduce a curvilinear coordinate system for collision-free path planning using a parametric curve, B-spline. To demonstrate the feasibility of the proposed algorithm, ship traffic simulations were performed and the results are presented.

• Journal of the Korean Society of Marine Environment & Safety
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• v.16 no.1
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• pp.101-106
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• 2010

Marine transportation system plays an important role in maintaining and promoting economic activities among countries. The accurate understanding of marine traffic flows are necessary for the further advancement of marine transportation system. While many existing researches on marine traffic have been conducted mainly on the basis of statistical analysis using traffic data, ship's traffic flow simulation model was developed in this study. A collision avoidance algorithm was conducted with categorizing of traffic factors such as ship's length and speed. The developed model was also verified by a simulation process.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.197-202
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• 2004

It is well known that the hydrodynamic interaction forces between ship and bank wall affect ship manoeuvring motion. This paper deals with the interaction effect acting on a ship navigating closely in the proximity of bank wail. In this paper, the calculation method based on the slender body theory for estimation of the hydrodynamic interaction forces between ship and bank wail is applied. The hydrodynamic interaction forces acting on a ship during passing through the proximity of the bank wail are predicted to evaluate an influence of these interaction forces on ship manoeuvrability. The calculation method used in this paper will be useful for prediction of ship manoeuvrability at the initial stage of design, for automatic control system of ship in confined waterways, for discussion of marine traffic control system and for construction of harbour.

• Journal of Navigation and Port Research
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• v.28 no.5
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• pp.333-337
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• 2004

It is well known that the hydrodynamic interaction forces between ship and bank wall affect ship manoeuvring motion This paper deals with the interaction effect acting on a ship navigating closely in the proximity of bank wall. In this paper, the calculation method based on the slender body theory for estimation of the hydrodynamic interaction forces between ship and bank wall is applied. The hydrodynamic interaction forces acting on a ship during passing through the proximity of the bank wall are predicted to evaluate an influence of these interaction forces on ship manoeuvrability. The calculation method used in this paper will be useful for prediction of ship manoeuvrability at the initial stage of design, for automatic control system of ship in confined waterways, for discussion of marine traffic control system and for construction of harbour.