• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 Asia Navigation Conference
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• pp.3-10
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• 2006

Recently it is coming to be hish reality on visual system in ship-handling simulator depending on the technical development of 3D computer graphics. Even with high reality, it is possible that visual information presented seafarers through screen or display is not equivalent to the real world. In docking maneuvering, visual targets or obstructs are sighted close to ship's operator or within few hundred meters, so it might be possible to affect visual information such as the difference between both eyes' and single eye's visual sight. Because it is not possible to perceive of very slow ship's movement by visual in case of very large vessels, so the Doppler Docking SONAR and/or Docking Speed and Distance Measurement Equipment were developed and applied for safety docking maneuvering. By the way, the simulator training includes the ship's maneuvering training in docking, but in Ship-handling Simulator and also onboard, there are some limitations of perception of ship's movement with visual information. In this paper, perception of ship's movement with visual system in Ship-handling Simulator and competition of performances of visual systems that are conventional screen type with Fixed Eye-point system and Mission Simulator. We got some conclusions not only on the effectiveness for visual system but also on the human behavior in docking maneuver.

• 한국해양공학회지
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• 제22권4호
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• pp.78-83
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• 2008

In recent years, small boats used for marine leisure have been steadily increasing because of the increase in national income and the desire for marine leisure. But the repair of such small boats in dry dock has pointed out many faults in small FRP-shipbuilding in terms if workspace and manpower. Lifting a boat from the water to land is done with a crane or by hand using a sling around the bottom of the boat. But dry dock work is limited by the scale of the boat, which corresponds to the crane capacity, with carelessness making it possible to capsize a boat and endanger life. The purpose of this study was the development of a marine docking system that would improve economical efficiency and safety, for which we carried out concept design, model tests, structural analysis, etc.

• 한국해양공학회지
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• 제30권3호
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• pp.208-213
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• 2016

This paper proposes a potential field-based guidance law for docking a USV (unmanned surface vehicle). In most cases, a USV without side thrusters is an under-actuated system. Thus, there are undockable regions near docking stations where a USV cannot dock to a docking station without causing a collision or backward motion. This paper suggest a guidance law that prevents a USV from enter such a region by decreasing the lateral error to the docking station at the initial stage of the docking process. A Monte-carlo simulation was performed to validate the performance of the proposed method. The proposed method was compared to conventional guidance laws such as pure pursuit guidance and pure/lead pursuit guidance. As a result, the collision angle and lateral distance error of proposed method tended to have lower values compared to conventional methods.

• 항공우주시스템공학회지
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• 제18권2호
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• pp.47-55
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• 2024

공중 무인 이동체(UAV)인 드론을 해상 무인 이동체(USV)와 자율 협력하여 임무를 수행하기 위해선 자동 착륙 시스템이 필요하다. 본 논문에서는 피라미드 형상의 착륙 장치와 패드를 기반으로 한 도킹 방식의 자동 착륙 시스템을 제안하였다. 파도, 바람 등 해상 환경에 의해 영향을 받더라도 드론이 착지할 수 있도록 유도하고, 결합(Docking) 장치를 통해 순간적으로 고정할 수 있다. 3-DoF 모션 플랫폼으로 함상의 거동을 모사하여 착륙 시험을 수행하였으며, 도킹 방식 자동 착륙 시스템의 운용·활용 가능성을 확인하였다.

• 한국해양공학회지
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• 제35권4호
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• pp.305-312
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• 2021

There is a gradual increase in the need for energy charging in marine environments because of energy limitations experienced by electric ships and marine robots. Buoys are considered potential energy charging systems, but there are several challenges, which include the need to maintain a fixed position and avoid hazards, dock with ships and robots in order to charge them, be robust to actions by birds, ships, and robots. To solve these problems, this study proposes a smart buoy robot that has multiple thrusters, multiple docking and charging parts, a bird spike, a radar reflector, a light, a camera, and an anchor, and its mechanism is developed. To verify the performance of the smart buoy robot, the position control under disturbance due to wave currents and functional tests such as docking, charging, lighting, and anchoring are performed. Experimental results show that the smart buoy robot can operate under disturbances and is functionally effective. Therefore, the smart buoy robot is suitable as an energy charging system and has potential in realistic applications.

• Journal of Advanced Research in Ocean Engineering
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• 제2권3호
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• pp.150-157
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• 2016

When blocks are supported on a dock, huge reaction forces concentrated at the supports cause structural damage owing to local stress concentrations. Thus, the supports should be arranged to avoid local failure from the reaction forces by redistributing those forces. Docking analyses to determine the proper blocks and their support arrangements are introduced so that the local stresses are minimized to warrant the safety of the docking supports. Local stresses enforced by the support arrangement should be evaluated by finite element analysis (FEA). However, it is difficult to consider an accurate 3D geometry of the blocks in the finite element model because the structural design information is too complicated to determine within several days using the FEA model. This paper presents a simplified FE model to evaluate the safety of the arrangement of supports using a simplified grillage element. The grillage element can be efficiently used to obrain the reaction forces in docking analysis becasuse the reaction forces at the supports are enough to assess the safety of block. Since a simplified grillage model of the entire ship cannot accurately calculate the local stresses, an optimized modeling method based on the grillage element was introduced. The local reaction forces obtained by the proposed approach and three-dimensional FEA were discussed for typical types of ships. It is shown that the reaction forces obtained by the present grillage model are in reasonably good agreement with the FEA model.

• 대한조선학회논문집
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• 제50권3호
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• pp.129-137
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• 2013

Each owner or operator of offshore products uses a maintenance management system like CMMS(Computerized Maintenance Management System) in order to manage their assets effectively and efficiently for a long time. But most of maintenance management systems have been focused on machinery items, not on 'Hull' until now. On the other hand, classifications like ABS, DNV, GL are having a sale on hull inspection and maintenance system for ships and an interest in hull maintenance system is increasing because of the application of EDD(Extended Dry Docking). This paper discusses the concept, inspection process and the practical application of Hull maintenance for Semi-submersible drilling rig to extend the service life and run a stable operation.

• 한국지능시스템학회논문지
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• 제26권5호
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• pp.383-389
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• 2016

본 논문은 선박의 외벽 청소를 위하여 영상기반의 용접부 인식기능을 탑재한 선체 블라시팅 로봇을 제시하였다. 본 로봇제작의 목표로서 선체 청소로봇의 설계 및 제작과정과 영상을 이용한 용접 비드 인식에 따른 성능 결과를 제시하였다. 그리고, 로봇제작에 따른 메카니즘과 로봇시스템의 제어기 제작 과정과 수직상승 메카니즘, 영상 시스템, 원격제어 기능을 갖는 선체 청소 특성에 대해서 기술하였다. 이러한 선체 청소로봇은 선박이 정박하는 동안에 청소를 수행하게 되므로 재도킹을 할 필요가 없는 장점이 있다. 따라서, 개발된 청소작업은 시간과 비용을 절감할 수 있고, 선체의 수직벽면의 주행이 가능하므로 부유물질 등을 수집할 수 있는 필러장치를 장착하고 있다. 개발된 로봇시스템의 동작 및 통신 성능테스트 결과를 통하여 성능평가 결과를 제시하였다.