• Title/Summary/Keyword: Navigation Safety Estimation Model

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Vehicle Dynamics and Road Slope Estimation based on Cascade Extended Kalman Filter (Cascade Extended Kalman Filter 기반의 차량동특성 및 도로종단경사 추정)

  • Kim, Moon-Sik;Kim, Chang-Il;Lee, Kwang-Soo
    • Journal of the Institute of Electronics and Information Engineers
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    • v.51 no.9
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    • pp.208-214
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    • 2014
  • Vehicle dynamic states used in various advanced driving safety systems are influenced by road geometry. Among the road geometry information, the vehicle pitch angle influenced by road slope and acceleration-deceleration is essential parameter used in pose estimation including the navigation system, advanced adaptive cruise control and others on sag road. Although the road slope data is essential parameter, the method measuring the parameter is not commercialized. The digital map including the road geometry data and high-precision DGPS system such as DGPS(Differential Global Positioning System) based RTK(Real-Time Kinematics) are used unusually. In this paper, low-cost cascade extended Kalman filter(CEKF) based road slope estimation method is proposed. It use cascade two EKFs. The EKFs use several measured vehicle states such as yaw rate, longitudinal acceleration, lateral acceleration and wheel speed of the rear tires and 3 D.O.F(Degree Of Freedom) vehicle dynamics model. The performance of proposed estimation algorithm is evaluated by simulation based on Carsim dynamics tool and T-car based experiment.

Estimation of the Traffic Flow in the Korea Coastal Waterway by Computer Simulation (우리나라 연안의 해상교통관제시스템 설치를 위한 기초연구 시뮬레이션에 의한 우리나라 연안의 해상교통량 추정)

  • 구자윤;박양기;이철영
    • Journal of the Korean Institute of Navigation
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    • v.12 no.1
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    • pp.85-112
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    • 1988
  • From the point of view of safety of life and property at sea and the protection of the marine environment, the Vessel Traffic Management System along the Korea coastal waterway is inevitably introduced. But the establishing priority per area must be evaluated under the restricted budget. In this case, the estimated traffic flow has a major effect on priority evaluation. In the former paper , an algorithm was proposed for estimating the trip distribution between each pair of zones such as harbours and straits. This paper aims to formulate a simulation model for estimating the dynamic traffic flow per area in the Korea coastal waterway. The model consists of the algorithm constrined by the statistical movement of ships and the observed data, the regression analysis and the traffic network evaluations. The processed results of traffic flow except fishing vessel are summarized as follows ; 1) In 2000, the traffic congestions per area are estimated, in proportion of ship's number (tonnage), as Busan area 22.3%(44.5%), Yeosu area 19.8%(11.2%), Wando-Jeju area18.1%(6.8%), Mokpo area 14.9%(9.9%), Gunsan area 9.1%(9.3%), Inchon area 8.1%(7.7%), Pohang area 5.5%(8.5%), and Donghae area 2.2%(2.1%). 2) For example in Busan area, the increment of traffic volume per annum is estimated 4, 102 ships (23 million tons) and the traffic flow in 2000 is evaluated 158, 793 ships (687 million tons). 3) consequently, the increment of traffic volume in Busan area is found the largest and followed by Yeosu, Wando-Jeju area. Also, the traffic flow per area in 2000 has the same order.

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Dynamics modeling and Estimation of Manoeuvrability for Tug-Barge Systems (예부선의 동역학 모델링 및 조종 성능 추정법 개발)

  • Yeo, Dong-Jin;Han, Seong-Hwan;Kim, Dong-Jin;Kim, Yeon-Gyu
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2009.10a
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    • pp.40-41
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    • 2009
  • In general, ships are towed to keep the safe operations in harbor or channel by tug boats. Due to increase in ocean traffic, many accidents are happened in harbor or channel in these days. Therefore it is necessary to predict manoeuvrability of tug-barge system, and to assure the safety of that system. Turg-barge system is composed of tug boat, barge, and towing cable, connecting both ships. Manoeuvring equations of tug-barge system are suggested, and the scopes of model tests are discussed to establish the mathematical models for tug boats in this paper.

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Autonomous Ship's Remote Operation Situation Occurrence Probability Estimation Model based on Navigation Areas (운항 해역별 자율운항선박 원격운항 상황 발생 확률 추산 시뮬레이션 모델)

  • Taewoong Hwang;Taemin Hwang;Dain Lee;Hyeinn Park;Ik-Hyun Youn
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.29 no.7
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    • pp.910-914
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    • 2023
  • With the technological innovation owing to the 4th industrial revolution, the maritime transportation is rapidly being developed with autonomous ships and systems. Particularly, autonomous ships will partially replace the manned ships and navigation among them remotely upon the degree of autonomy suggested by IMO. Accordingly, the remote operator and related research have increased as well. However, the data on the minimum required manpower for remote operators are lacking such as considering engage required situations and their co-occurrence probability. Therefore, this study proposes a simulation model that calculates the number of remote engage required situations by defining restricted water area and remote engage required situation as close-quarter situations based on accumulated trajectory data of actual ships. The findings are expected to be used as background materials to establish the appropriate manpower distribution of remote operators in remote operation centers.

A study on the hydrodynamic forces acting on a GT 4,000 tonnage fishery training vessel in the proximity of semi-circle bank wall (반원 형상의 측벽 부근을 항행하는 4,000톤급 어업실습선에 미치는 유체력에 관한 연구)

  • Chun-Ki LEE;Kyung-Jin RYU;Yoo-Won LEE;Su-Hyung KIM
    • Journal of the Korean Society of Fisheries and Ocean Technology
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    • v.59 no.4
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    • pp.336-343
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    • 2023
  • The aging fishery training vessels from the past have mostly been decommissioned, and many universities are introducing state-of-the-art large fishery training vessels. The purpose of these training vessels is to train marine professionals and above all, safety to prevent marine accidents should be of utmost priority as many students embark on the vessel. This study estimated the impact of the hydrodynamic interaction forces acting on the model vessel (fishery training vessel) from the bank when the vessel pass near the semi-circle bank wall in various conditions through the numerical calculation, especially concerning maneuvering motions of the vessel. For estimation, variables were mainly set as the size of the semi-circle shape, the lateral distance between the bank and the model vessel, and the depth near the bank. As a result, it was estimated that, in order for the model vessel to safely pass the semi-circle bank wall at a speed of 4 knots, the water depth to the vessel draft ratio should be 1.5 or more (approximately 8 m of water depth), and the lateral distance from the semi-circle bank wall should be 0.4 times the model vessel's length (Lpp) or more (a distance of 34 m or more). Under these conditions, it was expected that the model vessel would pass without significantly being affected by the bank wall.

Estimation Model for Freight of Container Ships using Deep Learning Method (딥러닝 기법을 활용한 컨테이너선 운임 예측 모델)

  • Kim, Donggyun;Choi, Jung-Suk
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.27 no.5
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    • pp.574-583
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    • 2021
  • Predicting shipping markets is an important issue. Such predictions form the basis for decisions on investment methods, fleet formation methods, freight rates, etc., which greatly affect the profits and survival of a company. To this end, in this study, we propose a shipping freight rate prediction model for container ships using gated recurrent units (GRUs) and long short-term memory structure. The target of our freight rate prediction is the China Container Freight Index (CCFI), and CCFI data from March 2003 to May 2020 were used for training. The CCFI after June 2020 was first predicted according to each model and then compared and analyzed with the actual CCFI. For the experimental model, a total of six models were designed according to the hyperparameter settings. Additionally, the ARIMA model was included in the experiment for performance comparison with the traditional analysis method. The optimal model was selected based on two evaluation methods. The first evaluation method selects the model with the smallest average value of the root mean square error (RMSE) obtained by repeating each model 10 times. The second method selects the model with the lowest RMSE in all experiments. The experimental results revealed not only the improved accuracy of the deep learning model compared to the traditional time series prediction model, ARIMA, but also the contribution in enhancing the risk management ability of freight fluctuations through deep learning models. On the contrary, in the event of sudden changes in freight owing to the effects of external factors such as the Covid-19 pandemic, the accuracy of the forecasting model reduced. The GRU1 model recorded the lowest RMSE (69.55, 49.35) in both evaluation methods, and it was selected as the optimal model.

Estimation of Buckling and Plastic Behaviour according to the Analysis Model of the Stiffened Plate (보강판의 해석모델에 따른 좌굴 및 소성거동 평가)

  • Ko, Jae-Yong;Oh, Young-Cheol;Park, Joo-Shin
    • Journal of Navigation and Port Research
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    • v.31 no.3 s.119
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    • pp.271-279
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    • 2007
  • Ship structures are basically an assembly of plate elements and estimation load-carrying capacity or the ultimate strength is one of the most important criterion for estimated safety assessment and rational design on the ship structure. Also, Structural elements making up ship plated structures do not work separately against external load. One of the critical collapse events of a ship structure is the occurrence of overall buckling and plastic collapse of deck or bottom structure subjected to longitudinal bending. So, the deck and the bottom plates are reinforced by a number af longitudinal stiffeners to increase their strength and load-carrying capacity. For a rational design avoiding such a sudden collapse, it is very important to know the buckling and plastic behaviour or collapse pattern of the stiffened plate under axial compression. In this present study, to investigate effect af modeling range, the finite element method are used and their results are compared varying the analysis ranges. When making the FEA model, six types of structural modeling are adopted varying the cross section of stiffener. In the present paper, a series of FEM elastoplastic large deflection analyses is performed on a stiffened plate with fiat-bar, angle-bar and tee-bar stiffeners. When the applied axial loading, the influences of cross-sectional geometries on collapse behaviour are discussed. The purpose of the present study is examined to numerically calculate the characteristics of buckling and ultimate strength behavior according to the analysis method of ship's stiffened plate subject to axial loading.

A Study on Estimation of the Course Keeping Ability of a Ship in Confined Waterways Using the MMG Model (MMG 모델을 이용한 제한수로를 운항하는 선박의 침로안정성능 추정에 관한 연구)

  • Kim, Hyunchul;Kim, In-Tae;Kim, Sanghyun;Kwon, Soo Yeon
    • Journal of Navigation and Port Research
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    • v.43 no.6
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    • pp.369-376
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    • 2019
  • Ship hydrodynamics in the confined waterways is challenging. When a ship is maneuvering in confined waterways, the hydrodynamic behavior may vary significantly because of the hydrodynamic interaction between the bottom of the ship hull and the seabed, or so-called shallow water effects. Thus, an accurate prediction of shallow water and bank effects is essential to minimizing the risk of the collision and the grounding of the ships. The hydrodynamic derivatives measured by the virtual captive model test provide a path to predicting the change in ship maneuverability. This paper presents a numerical simulation of captive model tests to predict the maneuverability of a ship in confined waterways. Also, straight and zig-zag simulation were conducted to predict the trajectory of a ship maneuvering in confined waterways. The results showed that the asymmetric flow around a ship induced by vicinity of banks causes pressure differences between the port and starboard sides and the trajectory of a ship maneuvering in confined waterways.

Directed Graph를 이용한 경제 모형의 접근 - Crandall의 탑승자 사망 모형에 관한 수정- ( Directed Graphical Approach for Economic Modeling : A Revision of Crandall's Occupant Death Model )

  • Roh, J.W.
    • Journal of Korean Port Research
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    • v.12 no.1
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    • pp.55-64
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    • 1998
  • Directed graphic algorithm was applied to an empirical analysis of traffic occupant fatalities based on a model by Crandall. In this paper, Crandall's data on U.S. traffic fatalities for the period 1947-1981 are focused and extended to include 1982-1993. Based on the 1947-1981 annual data, the directed graph algorithms reveal that occupant traffic deaths are directly caused by income, vehicle miles, and safety devices. Vehicle mileage is caused by income and rural driving. The estimation is conducted using three stage least squares regression. Those results show a difference between the traditional regression methodology and causal graphical analysis. It is also found that forecasts from the directed graph based model outperform forecasts from the regression-based models, in terms of mean squared forecasts error. Furthermore, it is demonstrates that there exists some latent variables between all explanatory variables and occupant deaths.

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An Empirical Study on the Estimation of Adequate Debt ration in Korean Shipping Industry: Focused on Water Transport (한국 해운산업의 적정부채비율 추정을 위한 실증연구: 수상운송업을 중심으로)

  • Pai, Hoo-Seok
    • Journal of Navigation and Port Research
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    • v.39 no.1
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    • pp.69-75
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    • 2015
  • The concrete purpose of this study is to suggest actually a debt ratio to optimize the capital structure providing a kind of approach to estimate the proper debt ratio with an analytical model and empirical data in Korean shipping industry. The mathematical and analytical model is started from the first equation about ROE, return of net operating income on equity, with an independent variable, debt ratio. It is constructed with several parameters, ROS(return of operating income on sales), TAT(total assets turnover), and NFCL(net finance cost to liabilities). There could not be a certain relationship between debt ratio and ROS or TAT, while some correlation or causality between debt ratio and NFCL. In other words, most of firms with high debt ratio is likely to burden higher finance cost than others with low one. In this case, there is a linearity relationship between debt ratio and NFCL, so then the second equation considering this relation could be included within the analytical approach of this paper. To be short, if the criteria of adequate debt ratio has to be defined as some level of debt ratio to optimize ROE, the ROE could be illustrated as a quadratic equation to debt ratio from two equations. Next, this research estimated those parameters' numbers through the single regression method with data over 12 years of Korean shipping industry, and identified empirically the fact that optimal debt ratio would be approximately 400%. To conclude, if that industry's sales and operating incomes are stable, the debt ratio could be accepted until twice of 200% had forced in order to guarantee its financial safety in past time.