• Journal of Navigation and Port Research
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• v.33 no.1
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• pp.35-41
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• 2009

A waypoint tracking algorithm(WTA) is designed for Unmanned Surface Vehicle(USV) in which water-jet system is installed for propulsion To control the heading of USV for waypoint tracking, the steering nozzle of water-jet need, to be controlled. Firstly, target heading is calculated by using the position information of waypoints input from the land control center. Secondly, the command for the steering nozzle of water-jet is calculated in real time by using the heading and the rate-of-turn( ROT) from magnetic compass, In this study, in order to consider the drift angle due to external disturbance such as wind and wave, the course of ground( COG) can be used instead of heading at higher speed than a certain value, To test the performance of newly-designed WTA, the tests were carried out in actual sea area near Gwang-an bridge of Busan. In this paper, the sea trial test results from WTA are analyzed and compared with those from manual control and those from commercial controller.

• Journal of Aquaculture
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• v.16 no.2
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• pp.104-109
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• 2003

The present study aims to evaluate protein and phosphorus availabilities of five different dietary protein sources during the 6-week feeding trial in juvenile olive flounder, Paralichthys olivaceus as determined by growth performance and phosphorus retention. Five diets containing blood meal (BM), poultry by-product (PBP), squid liver powder (SLP), feather meal (FM) and soybean meal (SM) were prepared by mixing a basal diet (BD) with one of five test ingredients at the ratio of 7 to 3. As a reference diet, BD contains three different protein sources such as white fish meal, casein and gelatin. After 2 weeks of the conditioning period, fish initially averaging 2.7$\pm$0.02g (mean$\pm$SD) were randomly distributed into each aquarium as a group of 30 fish reared in the recirculating system. Fish of triplicate groups were fed one of six experimental diets (BD+five test diet). After 6-week feeding trial, pro- tein efficency ratio (PER) of fish fed BM diet was the lowest in experiment groups. While fish fed PBP diet showed a significant higher PER as compared to the FM diet, and fish fed SLP diet and BD were a higher PER than did fish fed PBP diet. However, there was no significant difference in PER among fish fed SLP diet, BD and SM diet, and between SM diet and PBP diet. Phosphorus retention efficiency of bone (PR $E_{b}$) of fish fed BM diet was the lowest in all the diets, and fish fed FM diet showed a higher PE $R_{b}$ than fish fed BD and SM diet. However, there was no significant difference in PER among fish fed FM diet, SLP diet and PBP diet, and among SLP diet, PBP diet, SM diet and BD. These results indicate that SLP could be a suitable protein source for low pollution diets of olive flounder in the future fish feeds market. Furthermore, PBP and SM are available protein source to reduce P waste in the oliver flounder aquaculture with the use of proper mixture of other protein sources and more processing to improve protein availibility of these.ese.

• Journal of Physiology & Pathology in Korean Medicine
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• v.17 no.1
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• pp.57-63
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• 2003

Background: Rehmanniae radix preparata is a medicinal herb widely used in Asian countries, to replenish Yin and Vital Essence through strengthen the kidney function. In Oriental Medicine the brain has physiological relationship with the Vital Essence. And central nerve system (CNS) is also refered to as 'Sea of the Vital Essence'. So if the Vital Essence is strong it will nourish the brain and memory will all be keen. The purpose of this study was to investigate the effect of 7 to 14 days treatment with Rehmanniae radix preparata (3.4 g /100 g, per os) on retention performance of rats in a passive avoidance situation. Methods: Male Sprague-Dawley rats were trained on a one-trial passive avoidance task using a two-way shuttle box by giving a foot shock. They were tested for retention of 6h, 24h, 72h, 168h, and 336h after training. Results: Rehmanniae radix preparata treated rats showed a increased performance in retention test as compared to saline at 6hr (P<0.05) and 24hr (P<0.05). Conclusion: These data suggest that Rehmanniae radix preparata treatment can improve memory in the rat.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.3
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• pp.379-385
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• 2012

This paper developes the navigation visual aid supporting a watch officer's situation awareness and analyzes its performance test result. Developing the equipment made from composite video sensor which transfer video signal, ranger laser measurement model which search out distance, Pan/ Tilt, center control device. The developed equipment with Pan/Tilt was made from high performance video sensor and ranger laser measurement. To make a real ship test, we carried on setting the developed equipment on ship, observed a danger factor and analyzed a image, and from that we can evaluate marine environment awareness. Through this result, the developed equipment can show effective ability of the awareness of the clearer check and resolution situation when compare with the binocular.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.6
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• pp.666-673
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• 2013

This paper proposes the performance evaluation test of attitude heading reference system (AHRS) suitable for small high speed autonomous underwater vehicle(AUV). Although IMU can provides the detail attitude information, it is sometime not suitable for small AUV with short operation time in view of price and the electrical power consumption. One of alternative for tactical grade IMU is the AHRS based micro-machined electro mechanical system(MEMS) which can overcome many problems that have inhibited the adoption of inertial system for small AUV such as cost and power consumption. A cost effective and small size AHRS which incorporates measurements from 3-axis MEMS gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for AUV and the attitude calculation algorithm is derived based the coordinate transform equation and Kalman filter. The developed AHRS was validated through various performance tests as like the magnetometer calibration, operating experiments using land mobile vehicle and flight motion simulator (FMS). The test of magnetometer calibration shows the developed MEMS AHRS is robust to the external magent field change and the test with land vehicle proves the leveling error of developed MEMS AHRS is below $0.5^{\circ}/hr$. The results of FMS test shows the fact that AHRS provides the measurement with $0.5^{\circ}/hr$ error during 5 minutes operation time. These results of performance evaluation tests showed that the developed AHRS provides attitude information which error of roll and pitch are below $1^{\circ}$ and the error of yaw is below $5^{\circ}$ and satisfies the required specification. It is expected that developed AHRS can provide the precise attitude measurement under sea trial with real AUV.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2016.05a
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• pp.98-99
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• 2016

The aim of study is to develop a dual driven ship berthing/deberthing system with $360^{\circ}$ steerability. A large ship used bow thruster, side thruster and pod propulsor etc. when approaching to a pier. But as marine leisure boats become large-scaled, the number of accidents is recently increasing what caused a ship to crash into a ship and a ship to crash into mooring facilities during berthing/deberthing on a marina. To solve the problem, the control responsiveness of a joystick connected with two motors and a propeller was checked and torque was increased by the electromagnetic design of magnetic gear. A sea trial test was carried out to investigate a performance of the developed system in the real sea.

• Journal of the Society of Naval Architects of Korea
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• v.57 no.1
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• pp.35-44
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• 2020

Propeller cavitation extent, pressure fluctuation induced by cavitation, pressure distribution on propeller blade, total velocity distribution and nominal wake distribution for a MR Taker were computed in both conditions of model test and sea trial using a code STAR-CCM⁺. Then some of the results were compared with model test data at LCT and full-scale measurement (Ahn et al (2014); Kim et al (2014)] in order to confirm the availability of a numerical prediction method and to get the physical insight of local flow around a ship and propeller. The nominal wake distributions computed and measured by LDV velocimeter on the variation of on-coming velocity show the wake contraction characteristics proposed by Hoekstra (1974). The numerical prediction of propeller cavitation extent on a blade angular position and pressure fluctuation level on each location of pressure sensors are very similar with the experimental results.

• Journal of the Society of Naval Architects of Korea
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• v.34 no.1
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• pp.50-59
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• 1997

Shipbuilder checks the status of main engine and propeller operation before sea trial. Generally these tests are carried out at a quay during fitting out of the ship. For these tests the operator has to estimate the maximum RPM with permissible torque and thrust to ensure the safety of the mooring line and ship. In this paper, the propeller characteristics according to the draft variation for a moored ship is inveatigated. From these tests, it is shown that shaft submergence is a dominant parameter in the propeller performance at shallow shaft submergence and that the propeller performance is dependent upon the propeller RPM when the shaft submergence is kept unchanged. In this study, a simple formula of the required thrust for a given propeller shaft submergence and propeller RPM is derived. 1be propeller thrust, which is calculated by another formula in case of dtep draft, is compared with results of bollard pull test for FPSO.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.6
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• pp.1218-1224
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• 2017

With the increasing risk in building liquefied natural gas carriers (LNGC), pre-simulation of various scenarios is required for system integration and safe operation. In particular, the power management system (PMS) is an important part of the LNGC; it works in tight integration with the power control systems to achieve the desired performance and safety. To verify and improve unpredicted errors, we implemented a simulation model of power generation and consumption for testing PMS based on software-in-the-loop (SIL) method. To control and verify the PMS, numeric and physical simulation modeling was undertaken utilizing MATLAB/Simulink. In addition, the simulation model was verified with a load sharing test scenario for a sea trial. This simulation allows shipbuilders to participate in new value-added markets such as commissioning, installation, operation, and maintenance.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.