• Ocean Systems Engineering
• /
• v.4 no.2
• /
• pp.117-136
• /
• 2014

The increased interest in the design of energy efficient ships post IMO regulation on enforcing EEDI has encouraged researchers to reevaluate the numerical methods in predicting important hull design parameters. The prediction of added resistance and stability of ships in the rough sea environment dictates selection of ship hulls. A 3D panel method based on Green function is developed for vessel motion prediction. The effects of parametric instability are also investigated using the Volterra series approach to model the hydrostatic variation due to ship motions. The added resistance is calculated using the near field pressure integration method.

• The Journal of Korea Robotics Society
• /
• v.11 no.3
• /
• pp.146-155
• /
• 2016

Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process with generalized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for two dimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.3 no.4
• /
• pp.225-232
• /
• 2011

In the present study, a new hull panel generation algorithm, namely panel cutting method, was developed to predict flow phenomena around a ship using the Rankine source potential based panel method, where the iterative method was used to satisfy the nonlinear free surface condition and the trim and sinkage of the ship was taken into account. Numerical computations were performed to investigate the validity of the proposed hull panel generation algorithm for Series 60 ($C_B$=0.60) hull and KRISO container ship (KCS), a container ship designed by Maritime and Ocean Engineering Research Institute (MOERI). The computational results were validated by comparing with the existing experimental data.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.12 no.1
• /
• pp.605-616
• /
• 2020

The construction quality control of hull blocks is of great significance for shipbuilding. The total station device is predominantly employed in traditional applications, but suffers from long measurement time, high labor intensity and scarcity of data points. In this paper, the Terrestrial Laser Scanning (TLS) device is utilized to obtain an efficient and accurate comprehensive construction information of hull blocks. To address the registration problem which is the most important issue in comparing the measurement point cloud and the design model, an automatic registration approach is presented. Furthermore, to compare the data acquired by TLS device and sparse point sets obtained by total station device, a method for key point extraction is introduced. Experimental results indicate that the proposed approach is fast and accurate, and that applying TLS to control the construction quality of hull blocks is reliable and feasible.

• Ocean and Polar Research
• /
• v.33 no.1
• /
• pp.69-76
• /
• 2011

A test miner named MineRo was constructed for the purpose of shallow water test of mining performance. In June of 2009, the performance test was conducted in depth of 100 m, 5 km away from Hupo-port (Korean East Sea), to assess if the developed system is able to collect and lift manganese nodules from seafloor. In August of 2010, in-situ test of automatic path tracking control of MineRo was performed in depth of 120 m at the same site. For path tracking control, a localization algorithm determining MineRo's position on seabed is prerequisite. This study proposes an improved underwater navigation algorithm through estimation of MineRo's kinematic parameters. In general, the kinematic parameters such as track slips and slip angle are indirectly calculated using the position data from USBL (Ultra-Short Base Line) system and heading data from gyro sensors. However, the obtained data values are likely to be different from the real values, primarily due to the random noise of position data. The aim of this study is to enhance the reliability of the algorithm by measuring kinematic parameters, track slips and slip angle.

• Ocean and Polar Research
• /
• v.37 no.1
• /
• pp.73-80
• /
• 2015

In order to determine the appropriate volume of the a pressure compensator of deep seabed mining robots, this paper reports on an experimental test for oil volume change in an oil-filled box. At the design stage of underwater robots, it is crucial to determine the capacity of the hydraulic compensator which is replenished as much as the contracted oil volume of the robots. A pilot mining robot, MienRo was designed to work under 6,000 m in the deep sea. The hydraulic actuating oil and pressure compensating oil of MineRo may be exposed at a hydrostatic pressure environment of 600 bar. Although the oil can be assumed to be incompressible, its volume is actually changed under high pressure conditions due to air contained in the oil and oil contraction. To determine the capacity of the pressure compensator, the oil contraction rate should be verified through an experimental test using a hyperbaric chamber.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.3
• /
• pp.70-76
• /
• 2007

Hemire is a 6000m class deep-sea ROV, which is recently developed by Maritime & Ocean Engineering Research Institute (MOERI) of Korea Ocean Research & Development Institute (KORDI) for 6 years since 2001, sponsored by the Ministry of Maritime Affairs and Fisheries (MOMAF). Hemire dove upto 1,065m for the first east sea trial last April, and touched a 2,026m bottom of the east sea last September. Finally, last November, Hemire reached a 5,775m bottom of the pacific ocean successfully. This showed our own technologies for design and development of a deep-sea ROV as 4th nation in the world, and we made a great step forward for deep-sea exploration. This paper describes a general overview of a 6000m class deep-sea ROV, and briefly explains development procedure of Hemire and Henuvy. Finally, results of sea trial are summarized.

• Journal of Ocean Engineering and Technology
• /
• v.29 no.3
• /
• pp.231-240
• /
• 2015

FPSO model tests of mooring line failure were carried out in the ocean basin at KRISO. The characteristics of the motions and mooring lines were investigated. The FPSO ship was moored using an internal turret and catenary mooring. The test model was 1/60 scale. The mooring lines were designed to satisfy the characteristics of the original mooring lines using the truncation method. The experiments were conducted under various environments: a safe wave, current and wind condition; single broken mooring line condition; and transient mode condition. The moment of the break was determined based on experimental test results. The results showed that the FPSO behavior and mooring line tensions were acceptable under the failure condition.

• Journal of Ocean Engineering and Technology
• /
• v.22 no.3
• /
• pp.64-70
• /
• 2008

A full-scale field experiment is an important part in the design of ships and offshore structures. Full-scale tests in the ice-covered sea, however, are usually very expensive and difficult tasks. Model tests in a refrigerated ice tank may substitute this difficulty of full-scale field tests. One of the major tasks to perform proper model tests in an ice towing tank is to select a realistic material for model ice which shows correct similitude with natural sea ice. This study focuses on the testing material properties and the selection of model ice material which will be used in an ice model basin. The first Korean ice model basin will be constructed at the Maritime & Ocean Engineering Research Institute (MOERI) in 2009. With an application to the MOERI ice model basin, in this study the material properties of EG/AD/S model ice of IOT (Institute for Ocean Technology) Canada, were tested. Through comprehensive bending tests, the elastic modulus and the flexural strength of EG/AD/S model ice were evaluated and the results were compared with published test results from Canada. Instead of using an ice model basin, a cold room facility was used for making a model ice specimen. Since the cold room adopts a different freezing procedure to make model ice, the strength of the model ice specimen differs from the published test results. The reason for this difference is discussed and the future development for a making model ice is recommended.

• Journal of Ocean Engineering and Technology
• /
• v.35 no.3
• /
• pp.191-202
• /
• 2021

Studies on very large offshore structures are increasing owing to the development of deep sea, large-scale energy generation using ocean resources, and so on. The enlargement of offshore structures makes the hydroelastic effect and low natural frequency related responses important. Numerical analyses and model tests for hydroelastic and higher-order springing responses of fixed cylindrical structures are conducted in this study. The panel methods with and without the hydroelastic effect with shell elements, and the Morison analysis method with beam elements are applied. To observe the hydroelastic effect for structural strength, two structures are considered: bottom-fixed cylindrical structures with high and low bending stiffnesses, respectively. The surge motions at the top of the structure and bending stresses on the structure are observed under regular and irregular wave conditions. The regular wave conditions are generated considering the ratios of the cylindrical outer diameter to the wave lengths, and keeping the wave steepness constant. The model tests are performed in the three-dimensional ocean engineering basin in the KRISO (Korea Research Institute of Ships and Ocean Engineering). From the numerical and experimental results, in which the hydroelastic responses are only observed in the case of the structure with a low bending stiffness, it is confirmed that the hydroelastic responses are highly dependent on the structural stiffness. Additionally, the higher-order phenomenon on the specified wave condition is analyzed by observing the higher-order springing responses when the incident wave frequency or its multiples with the high wave height coincides with the natural frequency of the structure.