• 한국항해학회지
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• 제14권4호
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• pp.17-30
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• 1990

Since L.A. Zadeh introduced the theory of fuzzy sets in 1965, E.H. Mamdani applied the theory to the steam engine control in 1974. Since then, scientists have shown a great deal of interests in its application to practical problems and the possibility of the application of the theory a more complicate system has been increasing greatly. In the fuzzy control, the qualitative knowledge and intuition that the operators of a system has acquired through their experience can be logically described by the Linguistic Control Rule(LCR). The algorithm of th control is made of the LCR, and th control of an object is performed by processing this algorithm implementing a computer. in this thesis, the fuzzy controller of the ship's steering system is devided into two systems, namely FC1 and FC2, according to their control function. FC1 is for the course keeping steering, wheress FC2 is for the altering of s ship's course. The characteristics of the control system were investigated through the digital computer simulation and the results were compared with those of the conventional steering system. It was found that the fuzzy control was more efficient than the conventional auto pilot system.

• 한국항해항만학회지
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• 제47권2호
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• pp.49-56
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• 2023

As interest in autonomous ships continues to grow, researchers around the world are dedicating themselves to the development of relevant technologies. However, these technologies are not yet perfect. Several technical problems remain unresolved. To address these problems, this study presents the implementation of a ship trajectory algorithm for group navigation, where followers can navigate by following the trajectory of a leader. The algorithm works by storing the leader's trajectory as a follow-point and by calculating the azimuth using the line-of-sight guidance law to reach it. A course-keeping controller based on PD control is implemented to follow the target course and a speed control algorithm is designed to prevent collisions. Sea experiments were conducted using 1 m class small RC model boats to verify the proposed algorithm. The follower successfully navigated by following the leader's trajectory and maintained the designated distance to the forward boat. This study is significant in that it implements an algorithm for the follower to follow the trajectory of the leader rather than directly following it as in conventional methods, and verifies it through sea experiments.

• 수산해양기술연구
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• 제59권2호
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• pp.145-154
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• 2023

In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.

• 대한조선학회논문집
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• 제34권4호
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• pp.1-11
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• 1997

바지(barge)선이 예인선에 의해 예인삭으로 예인될때 예인시스템의 특성상 yaw운동이 일어나 큰 sway운동이 발생할 수 있다. 특히, 바람이나 파랑들의 외력의 작용에 의해 바지선이 과대한 운동을 일으키게 되어 예인이 곤란하거나, 심할경우 예인선이나 예인물이 전복되는 사례가 보고되고 있다. 따라서 예인물의 침로 안정성은 주변 항해 선박의 안정성과도 관계되어 여러가지 측면에서 중요한 문제로 다루어져 왔다. 본 연구는 8, 000톤급 바지선의 침로 안정성에 관한 회류수조와 예인수조의 시험 결과이다. 여러가지 형태의 스케그(skeg)를 바지선의 선미부에 부착하여 정수 및 불규칙파에서 침로안정성 시험을 수행하였다. 8,000톤급 바지선이 스케그 부착없이 예인선으로 예인될때 sway 운동의 진폭은 바지선폭의 약 10배정도인것이, 효과적인 스케그의 부착으로 진폭을 0으로 만들어 침로 안정성을 유지할수있음을 보였다.

• 아시안잔디학회지
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• 제12권1호
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• pp.49-78
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• 1998

Nowadays, there are increasing demands of golf courses and it is necessary to make more golf courses than the present. To do this, we need to improve the environmental problems with the regional inhabitants, and it is said that the first thing to be considered in developing any golf course in Korea is to preserve the environment. In this context, the purpose of this study is to set forth several design factors to lessen the negative impacts which are accompanied with the development of golf courses. 1. The present conditions of golf courses in Korea Many new golf courses have come into being, particularly since the late 1980s, and now, in the year of 1997, over one hundred of golf courses are doing their business, yet the number of golf course is still less than required. So far, over a half of them have been made in the vicinity of Seoul on account of various reasons, and this has adversely affected on our natural environment. This unreasonable development of golf courses has caused serious water pollution, landslides and the other problems. Also, the topography of Korea is not good for golf courses. Although the demands of golf courses are increasing, the suitable sites for them are very limited, and therefore it is sometimes unavoidable to make golf courses on steep hills. Consequently, in designing golf courses in Korea, the most important thing is the balance between natural environment and artificial environment. 2.Eco-friendly golf course design factors 1) The concept of eco-friendly golf courses Ecologically sustainable and sound golf courses which are made by eco-friendly approaches 2)Basic conditions of eco-friendly golf courses (1)The most suitable sites (2) Conservation of existing ground as much as possible (3)Proper use of agricultural chemicals which have great impacts on the environment (4) Reasonable use of fertilizers (5) Developing a specialized fertilizer only for grass (6) Adaptation of organic agriculture (7) Improvement of grass sorts (8) Establishing reservoirs for purifying the water from golf courses 3) Eco-friendly golf courses (1) Location-Enough area /Gentle slope/Winding ground/Including lakes or streams /Not crossing wind's main direction Facing south or southeast /Suitable soIl for grass /Good drainage /Low level of underground water (2)Course layout and design -Consideration about existing contours as much as possible -Adaptation of Scotish design trend -Various holes' configuration -Consideration toward surrounding landscapes -Reducing grass areas -Giving buffer zones -Adapting computer methods in the process of site analysis and design (3) Eco-friendly considerations in constructing and managing golf courses -Protection of wildlife -Reuse of existing forests and preservation of topsoil -Renovation of old-fashioned courses -Reducing grass areas -Purification of water -Standization of management -Strict regulations against chemicals -Recycling organic materials -Through separation of the water inside golf courses and out of bounds -Getting proper construction works done in a due time 4.Eco-friendly considerations from a viewpoint of cultural environment 1) Well-matched landscape design and events planning 2) Implement of identifications and awarding systerns 3)Acknowledgement of superintendents' qualitications in the maintenance of golf courses 4)Increasing public golf courses and keeping good relationships with the neighbors near golf courses Key words: Pro-environmental development, Golf course.

• 한국항해학회지
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• 제19권3호
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• pp.11-19
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• 1995

When an automatic course keeping is introduced, as is quite popular in modern navigation, the closed-loop control system consists of autopilot device, power unit, steering gear, ship dynamics, and magnetic or gyrocompass. We derive mathematical models of each element of the automatic steering system. We provide a method of theoretical analysis on the propulsive energy loss related to automatic steering of ships in the open seas, taking account of the on-off(non-linear) characteristics of power unit. Also we paid attention to non-linear element installed in autopilot device, which is normally called weather adjuster. Next we make numerical calculation of the effects of autopilot control constants on the propulsive energy loss for two kinds of ship, a fishing boat and an ore carrier. Realistic sea and wind disturbances are employed in the calculation.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1995년도 춘계학술발표회 논문집
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• pp.65-92
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• 1995

The final aim of our research project is a study on assessment of automatic steering system of ships in open seas. In order to achieve this aim we need to know the characteristics of each component of the system and also to know the characteristics of disturbance to ship dynamcis. In this paper we provide calculation method of irregular disturbance to ships in autopilot navigation in open seas and also show calculation examples about two kinds of ship ore carrier and fishing boat. The disturbance consists of irregular wave and random wind, The disturbance is calculated as equivalent yaw angular velocity. Each spectrum and time history of disturbance are reasonably evaluated. Further investigation concerning to performance index of autopilot system and energy loss related to automatic course keeping will be dealt with in another paper,

• 대한물리의학회지
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• 제3권2호
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• pp.121-125
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• 2008

Purpose : The objective of this study was conducted to find out the treatment of joint problems. Methods : This is a literature study with books, seminar note and international course books. Results : Passive oscillation and distraction movement therapy is only joint mobilization and pain control. In the joint therapy need muscle strengthening, training of eccentrical control and neurophysiological therapy for joint mobility, stability, stability of mobility and skill. Conclusion : Joint therapy is not only joint mobility but also strengthening of soft tissue. Need the neurophysiological therapy those are use of ventromedial motor nucleus and dorsolateral motor nucleus, reciprocal inhibition, eccentrical muscle contraction training, proprioceptors and exteroceptor for structures and functional activities. For the pain control, reduce swelling, keeping GAGs and functional activities need direct and indirect therapy.

• 기술사
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• 제14권4호
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• pp.15-25
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• 1981

Electrical behaviors of the divalent silver oxide-zinc cell were analyzed for imporving capacity and keeping electrodes from passivation or sharp increases of cell internal resistance in the course of discharge. One of primary factors in relation to lowering performance can be depicted by cell internal resistance increase being created by various routes, first by insufficiency and/or the carbonation of the electrolyte, secondly by barrier blockage, thirdly by electrode passivation which are due to improper material use of wrong processing, and by gassing as fourth cause. The carbonation causes electrobyte to have impedance up as well as poor amalgamation, resulting in vigorous corrosion reaction of copper plated inner top, evolving hydrogen gas. Electrical characteristics of the cell was reviewed to elucidate relationships between the discharge capacity and the cell internal resistance.

• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2006년도 추계학술발표회
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• pp.143-149
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• 2006

This paper is primarily focused on the safe navigation between overtaking and overtaken vesselsin restricted waterways under the external forces, such as wind and current. The maneuvering simulation between two ships was conducted to find an appropriate safe speed and distance, which is required to avoid collision. From the viewpoint of marine safety, a greater transversedistance between two ships is more needed for the smaller vessel. Regardless of external forces, the smaller vessel will get a greater effect of hydrodynamic forces than the higher one. In the case of close navigation between ships under the forces of wind and current, the vessel moving at a lower speed is potentially hazardous because the rudder force of the lower speed vessel is not sufficient for steady-state course-keeping, compared to that of the higher speed vessel.