• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.724-727
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• 2007

선박 운항 자동화 시스템은 선내 노동력 감소, 작업 환경 개선, 운항 안전성 확보 및 운항 능률의 향상을 목표로 하며, 궁극적으로는 운항 경제성확보를 위한 승선 인원의 최소화에 그 목적이 있다. 최근에는 적응 제어방법 등을 응용하여 선박의 비선형성을 보상하여 선박의 회두각 유지제어(Course Keeping Control), 항로 추적제어(Track Keeping Control), 롤-타각제어(Roll-Rudder Stabilization), 선박 위치제어(Dynamic Ship Positioning), 선박자동 접이안(Automatic Mooring Control) 등에 관한 연구를 수행하고 있으며 실제의 선박으로 대상으로 응용연구가 진행 중이다. 선박은 Steering Machine에 의해 조정되는 Rudder angle과 선박의 회두각의 관계는 비선형적이며, 선박의 Load Condition은 선박의 Parameter에 영향을 주는 비선형적인 요소로서 작용한다. 또한 외란요소인 파도의 유속(流速)과 방향, 풍속과 풍량 등이 비선형적인 형태로 작용하므로 선박의 운항을 힘들게 하는 요인이 된다. 따라서 선박의 운항시스템에는 비선형성을 극복할 수 있는 강인한 제어 알고리즘을 요구한다. 본 논문에서는 퍼지 알고리즘을 이용하여 선박의 비선형적인 요인 및 외란을 극복할 수 있는 선박의 자율운항 시스템을 설계하고 시뮬레이션을 통해 그 결과를 살펴보았다.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.4
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• pp.496-507
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• 2010

It is well known that when a high-speed planing craft travels in following seas it experiences long-periodic motions due to low encounter frequency, and it often loses its course keeping stability. Therefore, it is necessary to study the sea-keeping performance and stability of it in the following seas. In this paper, the vertical motions of a planing craft were measured in following regular waves, and the test results were compared with the theoretical results. In the case of the same encounter frequency, non-dimensionalized motion amplitudes become larger as Froude number is higher, and non-dimensionalized motion amplitudes in head waves are larger than those in following waves. The mean values of the motions in following waves are similar to the running attitudes of a craft in calm water at the same Froude number.

• Geomechanics and Engineering
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• v.20 no.3
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• pp.221-232
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• 2020

In many tropical regions, soil structures often fail under constant loads as a result of decreasing matric suction due to water infiltration. Most of the previous studies have been performed by infiltrating water in the soil specimen by keeping shear stress constant at 85-90% of peak shear strength in order to ensure specimen failure during water infiltration. However, not many studies are available to simulate the soil behavior when water is infiltrated at lower shear stress and how the deformations affect the soil behavior if the failure did not occur during water infiltration. This research aimed at understanding both the strength and deformation behavior of unsaturated soil during the course of water infiltration at 25%, 50% and 75% of maximum deviatoric stress and axial strain by keeping them constant. A unique stress-strain curve expresses the transient situation from unsaturated condition to failure state due to water infiltration is also drawn. The shearing-infiltration test results indicate that the water infiltration reduces matric suction and increase soil deformation. This research also indicates that unsaturated soil failure problems should not always be treated as shear strength problems but deformation should also be considered while addressing the problems related to unsaturated soils.

• Conservation Science in Museum
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• v.1
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• pp.9-14
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• 1999

The responsibility of keeping and caring of unearthed cultural properties belongs to the National Museum according to cultural properties protection law(law No.3644). So unearthed cultural properties are possessed by the museum after going through the regular course. Number of those cultural properties is increasing swiftly. Every year more than ten thousand units of cultural properties are unearthed. The number of unearthed cultural properties is expected to increase in the future. Howeve, the keeping facilities of the National Museum are already over-saturated. So many unearthed cultural properties are being entrusted to university museums that have bad facilities and few personnel. It makes many problems including inadequate caring. More pressing problem is that those cultural properties are not under the protection of scientific conservation processing and caring. The reason is that there are so few conservation scientists in Korea. There is no independent department of conservation science even in the National Museum, where only five members are working as conservation experts. To solve those problems, new system and organization which win take charge of conservation and care of cultural properties, that is, an organization which will consist of scientific keeping facilities and expert personnel (conservation scientists) is needed immediately.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.2
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• pp.821-828
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• 2011

This paper developed the algorithm for improving the performance the auto pilot in the autonomous vehicle system consisting of the Track keeping control, the Automatic steering, and the Automatic mooring control. The automatic steering is the control device that could save the voyage distance and cost of fuel by reducing the unnecessary burden of driving due to the continuous artificial navigation, and avoiding the route deviation. During the step of the ship autonomic navigation control, since the wind power or the tidal force could make the ship deviate from the fixed course, the automatic steering calculates the difference between actual sailing line and the set course to keep the ship sailing in the vicinity of intended course. first, we could get the transfer function for the modeling of ship according to the Nomoto model. Considering the maneuverability, we propose it as linear model with only 4 degree of freedoms to present the heading angle response to the input of rudder angle. In this paper, the model of ship is derived from the simplified Nomoto model. Since the proposed model considers the maximum angle and rudder rate of the ship auto pilot and also designs the Fuzzy controller based on existing PID controller, the performance of the steering machine is well improved.

• Journal of Climate Change Research
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• v.2 no.4
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• pp.309-316
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• 2011

The study evaluated the loss rate of carbon dioxide, which is the prevalent greenhouse gas, according to the method of keeping specimens using standard gases. In order to examine the difference generated by a bag of storing specimens, it checked the loss rate according to concentration and time by making a 2nd set of standard gases in a Tedlar bag and an Aluminium bag. The containers lost gases at a rate of 5% or more after 6 day, and 10% or more after 15 days in both bags. In time, it was confirmed that the loss rate of the Aluminium bag was higher than that of the Tedlar bag. Specifically, there was no significant difference between the two bags after 12 days had passed, but by the 15th day, it was confirmed that the loss in an Aluminium bag was more severe than that in the Tedlar bag. The study went on to check the relations between the humidity in storage and the loss rate. The results showed that there was no significant effect of humidity on the loss rate until 72 hours had passed, when the loss rate in the Tedlar bag with high humidity was about 5% higher than that of the Tedlar bag in dry conditions. This study examined the loss rate of carbon dioxide, a typical greenhouse gas. It is important to note that the loss rate was determined by calculating highly reliable carbon dioxide emission and emission coefficient data, with consideration to the method of keeping specimens.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.40 no.2
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• pp.144-148
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• 2004

Generally a ship in a port or canal is guided by tugboat(s), while the ship engine(s) and steering mechanism idle. The shortcomings of this method are insufficient in course keeping ability, danger of collision with waterside structures, time-consuming preparation for tugging, as well as the need to maintain tugboats. A new technology for ship guiding, based on the physical principle of interaction of a solid body with aerated liquids has been developed [1]. Model tests were carried out for the verification of system at slow speed by engine operating conditions and with an idle steering. The developed device has been proved to keep the ship on course safely.

• Journal of Navigation and Port Research
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• v.29 no.10 s.106
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• pp.827-832
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• 2005

In this paper, as a fundamental study of ship collision avoidance supporting system in close quarters situation, we propose ship collision avoidance support model for decreasing ship collision accidents those have occurred due to navigator's unsuitable maneuvering in close encounter. This model will effectively support maneuvering for collision avoidance through displaying the feasible area and the method of collision avoidance using own ship's turning characteristic about action of target ship's keeping course and velocity.

• Journal of Navigation and Port Research
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• v.44 no.5
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• pp.423-429
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• 2020

A ship's automatic steering system is the basis for addressing control difficulties related to course-changing and course-keeping during navigation through heading angle control, and is a link in realizing unmanned and autonomous ships. This study proposes a robust RCGA-based linear active disturbance rejection controller (LADRC) design method considering environmental disturbances, measurement noise, and model uncertainties in designing a ship heading controller for use when the ship is sailing. The LADRC consisted of a transient profile, a linear extended state observer, and a PD controller. The control gains in the LADRC with the linear extended state observer were adjusted by RCGAs to minimize the integral of the time-weighted absolute error (ITAE), which is an evaluation function of the control system. The proposed method was applied to ship heading control, and its effectiveness was validated by comparing the propulsive energy loss between the proposed method and a conventional linear PD controller. The simulation results showed that the proposed method had the advantages of lower propulsive energy loss, more robustness, and higher tracking precision than the conventional linear PD controller.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.29 no.1
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• pp.119-124
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• 2005

In this paper, as a fundamental study of ship collision avoidance supporting system in close quarters situation, we propose ship collision avoidance support model for decreasing ship collision accidents those have occurred due to navigator's unsuitable maneuvering in close encounter. This model will effectively support maneuvering for collision avoidance through displaying the feasible area and the method of collision avoidance using own ship's turning characteristic about target ship's keeping course and velocity maneuvering actions.