• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.352-360
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• 2019

This paper proposes a docking assessment algorithm for an autonomous underwater vehicles (AUVs) with sensor uncertainties. The proposed algorithm consists of two assessments, state assessment and probability assessment. The state assessment verifies the reachability by comparing forward distance to the docking station with expected distance to reach same depth as the docking station and necessity for correcting its route by comparing calculated inaccessible areas based on turning radius of the AUV to position of the docking station. When the AUV and the docking station is close enough and the state assessment is satisfied, the probability assessment is conducted by computing success probability of docking based on the direction angle, relative position to the docking station, and sensor uncertainties of the AUV. The final output of the algorithm is decided by comparing the success probability to threshold whether to try docking or to correct its route. To verify the validation of the suggested algorithm, the scenario that the AUV approaches to the docking station is implemented through Matlab simulation.

• Journal of Advanced Navigation Technology
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• v.25 no.3
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• pp.177-184
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• 2021

This paper proposes an assessment method using probability-based index for safe and successful underwater docking of autonomous underwater vehicles(AUVs) to the docking stations(DSs). The proposed method assesses the probability of docking according to the degree to which the state of the AUV is consistent with the state criteria for docking. The assessment is performed within a specific area considering the kinematic constraints and docking plans of the AUV. The assessment process is defining probability density function, calculating probabilities for reaching the docking station according to the difference to position and heading criteria, and computing the probability-based index in real-time. We verify the validity of the proposed method through analyzing the data acquired on operation test.

• Special Issue of the Society of Naval Architects of Korea
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• 2006.09a
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• pp.89-96
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• 2006

The objective of this paper is to find out a reasonable method for docking analysis of ships. The characteristics of reaction force distribution under docking condition are investigated by carrying out parametric study. To assess the allowable reaction force on keel block from structural strength point of view, two kinds of structural assessment methods are proposed in accordance with expected collapse pattern. In order to verify the proposed method, linear buckling and elasto-plastic large deflection analyses of typical double bottom structure are carried out and the results are compared.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.3
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• pp.290-301
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• 2013

The docking analysis of a global ship structure is requested to evaluate its structural safety against the reaction forces at supports during docking works inside a dry dock. That problem becomes more important recently as the size of ships is getting larger and larger. The docking supports are appropriately arranged in a dock to avoid their excessive reaction forces which primarily cause the structural damages in docking a ship and, up to now, the structural safety has been assessed against the support arrangement by the finite element analysis (FEA) of a global ship structure. However, it is complicated to establish the finite element model of the ship in the current structural design environment of a shipyard and it takes over a month to finish the work. This paper investigates a simple and fast approach to carry out a ship docking analysis by a simplified grillage model and to assign the docking supports position on the model. The grillage analysis was considered from the motivation that only the reaction forces at supports are sufficient to assess their arrangement. Since the simplified grillage model of the ship cannot guarantee its accuracy quantitatively, modeling strategies are proposed to improve the accuracy. In this paper, comparisons between the proposed approach and three-dimensional FEA for typical types of ships show that the results from the present grillage model have reasonably good agreement with the FEA model. Finally, an integrated program developed for docking supports planning and its evaluation by the proposed approach is briefly described.

• International Journal of CAD/CAM
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• v.6 no.1
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• pp.9-17
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• 2006

Performing inspections for Hull Condition Monitoring and Assessment as stipulated in IACS unified requirements and IMO's Condition Assessment Scheme (CAS) IMO Resolution MEPC.94(46), 2001, Condition Assessment Scheme, IMO Resolution MEPC.111(50), 2003, Amendments to regulation 13G, addition of new regulation 13H involves a huge amount of measurement data to be collected, processed, analysed and maintained. Information to be recorded consists of thickness measurements and visual assessment of coating and cracks. The amount of data and increasing requirements with respect to condition assessment demand efficient computer support. Currently, due to the lack of standardization for this kind of data, the thickness measurements are recorded manually on ship drawings or tables. In this form, handling of the measurements is tedious and error-prone and assessment is difficult. Data reporting and analysis takes a long time, leading to some repairs being performed only at the next docking of the ship or making an additional docking necessary. The recently started ED funded project CAS addresses this topic and develops-as a first step-a data model for Hull Condition Monitoring and Assessment (HCMA) based on XML-technology. The model includes simple geometry representation to facilitate a graphically supported data collection as well as an easy visualisation of the measurement results. In order to ensure compatibility with the current way of working, the content of the data model is strictly confined to the requirements of the measurement process. Appropriate data interfaces to classification software will enable rapid assessment by the classification societies, thus improving the process in terms of time and cost savings. In particular, decision-making can be done while the ship is still in the dock for maintenance.

• Journal of Pharmacopuncture
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• v.27 no.2
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• pp.91-100
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• 2024

Objectives: Candida albicans is an opportunistic pathogen that occurs as harmless commensals in the intestine, urogenital tract, and skin. It has been influenced by a variety of host conditions and has now evolved as a resistant strain. The aim of this study was thus detect the fluconazole resistant C. albicans from the root caries specimens and to computationally evaluate the interactions of an opaque-phase ABC transporter protein with the Psidium guajava bio-active compounds. Methods: 20 carious scrapings were collected from patients with root caries and processed for the isolation of C. albicans and was screened for fluconazole resistance. Genomic DNA was extracted and molecular characterization of Cdrp1 and Cdrp2 was done by PCR amplification. P. guajava methanolic extract was checked for the antifungal efficacy against the resistant strain of C. albicans. Further in-silico docking involves retrieval of ABC transporter protein and ligand optimization, molinspiration assessment on drug likeness, docking simulations and visualizations. Results: 65% of the samples showed the presence of C.albicans and 2 strains were fluconazole resistant. Crude methanolic extract of P. guajava was found to be promising against the fluconazole resistant strains of C. albicans. In-silico docking analysis showed that Myricetin was a promising candidate with a high docking score and other drug ligand interaction scores. Conclusion: The current study emphasizes that bioactive compounds from Psidium guajava to be a promising candidate for treating candidiasis in fluconazole resistant strains of C. albicans However, further in-vivo studies have to be implemented for the experimental validation of the same in improving the oral health and hygiene.