• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.6
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• pp.642-648
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• 2019

Vessels sail according to the COLREG to prevent a collision. However, it is difficult to apply COLREG under special situation as heavy traffic, at this time personal skills of the operator are required. In this case, traffic control is required through the maritime traffic monitoring system. Therefore, maritime traffic management is globally implemented by VTS. In this system, VTS of icer uses the VTS system to assess risks and recommends possible safety operation to vessels with radio systems. This study considers that the risk analysis method with AI (Artificial Intelligence) technology from the operator's aspect. In addition, the research explains the Maritime Traffic Safety Monitoring System, Including AR (Augmented Reality) technology to increase vessel control efficiency. This system is able to predict hazards and risk priorities, and it leads to sequential elimination of dangerous situations. Especially, the hazard situations can be analyzed from operator's perspective of each vessel instead of the VTS officer's aspect, which is more practical than the conventional method. Furthermore, the result of analysis enables to comprehend quantitative hazardous areas and support recommended routes to avoid a collision. As a result, I firmly believe that the system will support to prevent a collision in complex traffic waters. In particular, it could be adopted as a collision prevention system for Maritime Autonomous Surface Ship, which occupies a significant proportion in Maritime 4th industrial revolution.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.198-203
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• 2004

This paper describes a real-time control architecture for DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), which has been developed at Korea Research Institute of Ships & Ocean Engineering (KRISO), KORDI, for being a test-bed oj development of technologies for underwater navigation and manipulator operation. DUSAUV has three built-in computers, seven thrusters for 6 degree of freedom motion control, one 4-function electric manipulator, one pan/tilt unit for camera, one ballasting motor, built-in power source, and various sensors such as IMU, DVL, sonar, and so on. A supervisor control system for GUI and manipulator operation is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers of vehicle for real-time control purpose, while MicroSoft OS product is ported on the supervisor system for GUI programming convenience. A hierarchical control architecture which consist of three layers (application layer, real-time layer, and physical layer) has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in a basin of KRISO is also provided.

• International Journal of Ocean System Engineering
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• v.1 no.2
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• pp.60-67
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• 2011

This paper presents an in-situ correction method to compensate for the position error of an autonomous underwater vehicle (AUV) near the sea floor. AUVs generally have an inertial navigation system assisted with auxiliary navigational sensors. Since the inertial navigation system shows drift in position without the bottom reflection of a Doppler velocity log, external acoustic positioning systems, such as an ultra short baseline (USBL), are needed to set the position without surfacing the AUV. The main concept of the correction method is as follows: when the AUV arrives near the sea floor, the vehicle moves around horizontally in a circular mode, while the USBL transceiver installed on a surface vessel measures the AUV's position. After acquiring one data set, a least-square curve fitting method is adopted to find the center of the AUV's circular motion, which is transferred to the AUV via an acoustic telemetry modem (ATM). The proposed method is robust for the outlier of USBL, and it is independent of the time delay for the data transfer of the USBL position with the ATM. The proposed method also reduces the intrinsic position error of the USBL, and is applicable to the in-situ calibration as well as the initialization of the AUVs' position. Monte Carlo simulation was conducted to verify the effectiveness of the method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.11a
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• pp.107-108
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• 2019

In the past, regional pilot service is provided by individual pilots directly on board each ship, but it will be difficult to provide this type of service in the near future when autonomous vessels are activated. This can be seen as the need for automation and intelligence of pilot service and provision of remote control system. In this paper, we propose a method, system, and service target that can carry out the electronic pilot service through the intelligence aids to navigation for smart port operation.

• Journal of Navigation and Port Research
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• v.46 no.2
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• pp.73-81
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• 2022

Currently, shipping by sea is becoming common because of the low price and the safety of goods. The ship is designed as a larger vessel to meet the need of this development. In the design stage, the investigation of hydrodynamic forces acting on the ship hull is very important in predicting the ship's maneuverability. Given that the ship docks at various ports for loading or discharging goods, the ship usually operates in various loading conditions, depending on the site condition and other various factors. Hence, it is necessary to investigate the effect of the loading condition on the hydrodynamic forces acting on the ship, to most accurately determine the maneuverability of the ship. In this study, an experiment of Korea Autonomous Surface Ship (KASS) was conducted at the towing tank of Changwon National University to measure the hydrodynamic forces acting on the KASS. The loading condition considered in this experiment is determined based on the draft, which was decreased by 5% for each loading condition. The smallest draft is 85% of the design draft. The static test as Oblique Towing Test (OTT), Circular Motion Test (CMT), Circular Motion Test with Drift (CMTD) is performed in the various loading conditions. First, the hydrodynamic forces in the Oblique Towing test (OTT) are compared with the result of other institutes. Second, the hydrodynamic forces in various drift angle, yaw rate and loading conditions are measured. Finally, the influence of the loading conditions on the hydrodynamic coefficient is discussed.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.6
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• pp.1002-1012
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• 2022

As the fourth industrial revolution (Industry 4.0) evolves, studies on autonomous ships have been conducting in the shipping industry. Currently, two or three degrees of autonomous ships is in operation, and a shore remote control of icer (SRCO) monitors vessel operations and intervenes remotely where necessary in the service. However, as the curriculum for an SRCO has not been established internationally, the risk of an accident by an unqualified SRCO is increasing. In this study, specifies the curriculum required for SRCO that consists of suitable existing training and new training under remote control circumstances. This includes Non-technical skill training to enhance the effectiveness of an SRCO. This curriculum can be used for a new SRCO to evaluate training and competency specific safety standards, and to enable existing seafarers to become SRCOs through the necessary training.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.3
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• pp.242-249
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• 2017

In order to develop an HNS safety management system to assess and visualize hazard levels via an automated method, we have conceptualized and configured a sample system. It is designed to quantify the risk of a vessel carrying HNS with a matrix method along navigational route and indicate hazards distribution with a contour map. The basic system which provides a visualized degree of hazards in real time has been introduced for the safe navigation of HNS ships. This is useful not only for decision making and circumstantial judgment but may also be utilized for HNS safety management with a risk base. Moreover, this system could be extended to address the navigational safety of marine traffic as well as of autonomous vessels in the near future if the sensors used are connected with IoT technology.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.935-939
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• 2003

The emotion recognition is one of the most significant interface technologies which make the high level of human-machine communication possible. The central nervous system stimulated by emotional stimuli affects the autonomous nervous system like a heart, blood vessel, endocrine organs, and so on. Therefore bio-signals like HRV, ECG and EEG can reflect one' emotional state. This study investigates the correlation between emotional states and bio-signals to realize the emotion recognition. This study also covers classification of human emotional states, selection of the effective bio-signal and signal processing. The experimental results presented in this paper show possibility of the emotion recognition.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.418-424
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• 2005

For the safety and cost reduction of the navigation in the sea, we need automatic and intelligent system for the ship. For the ship automation, we need a route planning based on GPS and the nautical chart. In this paper, we propose a route planning technique using point of contact of the obstacle and treecreation technique. The efficiency of the proposed technique is proved by comparing with A* search technique that is the most famous search technique for route planning from the optimal point of view.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2018.05a
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• pp.160-161
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• 2018

ITU-R Study Group Working Party 5B에서는 해상에서 자율운항선을 안전하게 운항하기 위해 자율운항선을 통한 제어센터-VTS, 제어센터-유인선 간의 정보교환이 이루어 질 수 있도록 Vessel traffic control voice relay의 기능을 제시하였다. 이에 자율운항선을 통해 제어센터-VTS, 제어센터-유인선 간의 원활한 정보교환이 가능하도록 사용자 기능 요구사항, 사용자 비기능 요구사항, 인터페이스 요구사항으로 분석함으로써 통신중계시스템 설계 및 각 운용 기기별 정보교환 체계를 구축하였다. 하지만 자율운항선-타 선박간의 충돌 위험성을 감지할 경우 충돌회피를 위한 흐름 및 통신중계시템을 활용한 메시지 처리과정은 설계되지 아니한 실정이다. 이에 본 연구에서는 액티비티, 제어흐름, 작업 흐름 등의 표현이 가능한 UML(unified modeling language)을 활용함으로써 항해단계 중 발생할 수 있는 상황별 시나리오를 제어 흐름 형태로 표현한 정보교환 메시지 처리 알고리즘을 제안하고자 한다.