• Journal of the Korean earth science society
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• v.24 no.5
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• pp.467-476
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• 2003

For the seafloor acoustic image mapping of side scan sonar, the beginning step of the procedure is to fix the absolute sonar (tow-fish) position since the sonar is not hull mounted but towed astern. The technical algorithm used to calculate the actual sonar position without any other additional sub-system, i.e., the underwater acoustic position tracking system or the sonar attitude measuring device, was proposed. In the seafloor image mosaic mapping results using the sonar track (not ship track) developed in this study, any ambiguity or inconsistency of seafloor features was not found. The incidental effect from the sonar position determination procedure orients the towing direction of sonar to be smooth, consequently the swath pattern on the across-track direction becomes stable and the blanking phenomenon of the insonification area is reduced conspicuously. This technical method is considered to be an useful tool when applied toother underwater towing vehicle surveys.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.7
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• pp.760-766
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• 2014

This paper represents a portable robot for use in the welding process of the double hulls in shipbuilding yards. It has 5 degrees of freedom and 3kg of payload. Its body weight is 17.3 [kg] so that human workers can carry it by hand to the work place. Its body is mainly made of magnesium and aluminum alloys. Since the robot is placed about 25m apart from its controller, EtherCAT is adopted for reliable connection between the robot and controller through a single light cable. RTX real-time kernel and KPA EtherCAT master are used to control the robot on a Windows XP environment. The performance of the developed robot is satisfactory to the requirement in welding tasks of U-type cells in shipbuilding yards.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.971-980
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• 2010

In this paper, we present a navigation control algorithm for mobile robots that move in environments having static and moving obstacles. The algorithm includes a global and a local path-planning algorithm that uses $D^*$ search algorithm, a fuzzy logic for determining the immediate level of danger due to collision, and a fuzzy logic for evaluating the required wheel velocities of the mobile robot. To apply the $D^*$ search algorithm, the two-dimensional space that the robot moves in is decomposed into small rectangular cells. The algorithm is verified by performing simulations using the Python programming language as well as by using the dynamic equations for a two-wheeled mobile robot. The simulation results show that the algorithm can be used to move the robot successfully to reach the goal position, while avoiding moving and unknown static obstacles.

• Proceedings of KOSOMES biannual meeting
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• 2004.11a
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• pp.129-135
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• 2004

Plate has cutout inner bottom and girder and floor etc in hull construction absence is used much, and this is strength in case must be situated, but establish in region that high stress interacts sometimes fatally in region that there is no big problem usually by purpose of weight reduction, a person and change of freight, piping etc. Because cutout's existence gnaws in this place, and, elastic budding strength by load rouses large effect in ultimate strength. Therefore, perforated plate elastic budding strength and ultimate strength is one of important design criteria which must examine when decide structural elements size at early structure design step if ship. Therefore, and, reasonable elastic budding strength about perforated plate need design ultimate strength. Calculated ultimate strength change several aspect ratioes and cutout's dimension, and thickness in this investigation. Used program applied ANSYS F.E.M code based on finite element method

• Journal of the Korean Society of Marine Environment & Safety
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• v.14 no.1
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• pp.89-93
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• 2008

Stiffened panels are basic strength members which have been used widely in a vessel or an offshore. They have been used often a deck, a side and a bottom structure of ship and have a number of one sided stiffener in either one or both directions called grillage. Their buckling and plastic collapse become damaged reason of the hull girder so it needs to investigate accurately buckling and ultimate strength of stiffened panels. In the present paper, using the ANSYS, a commercial finite element analysis code, we conducted the evaluation regarding buckling and post-buckling behaviour of stiffened panels, and analyzed stiffener's web height change, considering the effect of lateral pressure load against compression ultimate strength.

• Special Issue of the Society of Naval Architects of Korea
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• 2006.09a
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• pp.46-52
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• 2006

For ships, heat resistant coating is applied on the aluminized steel pipe systems dealing with high temperature steam over $200^{\circ}C$. The coatings on these steam pipes should retain both heat resistance and anti-corrosion properties to provide long-term resistance against coating defects (rust, delamination and crack) under the harsh outdoor environment including repeated seawater wetting and condensation. Thus, it is important to improve the coating qualities and to reduce maintenance works for these steam pipe systems. In this study, five different commercial heat resistant coatings (A, B, C, D, E) were selected for evaluation. Various physical properties of these coatings were evaluated on the coatings applied on the aluminized steam pipes. FT-IR analysis was also employed to identify the factors contributing the degree of heat resistance and durability of each coating material. The results indicated that the heat resistance capacity of coatings increased with the increase of silicon content as well as the decrease of substituent content. Both products C and D showed the best coating qualifies, which can be standard coating systems for future steam pipe areas.

• Journal of the Society of Naval Architects of Korea
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• v.34 no.2
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• pp.27-38
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• 1997

This paper is concerned with the calculation of the wave resistance for SWATH ships based on a low order Rankine source panel method. Two types of free surface boundary conditions, Dawson type (double model approximation) and Kelvin type (free stream approximation) are used. For the free surface boundary calculation, an analytic differentiation is employed instead of implementing a finite difference scheme. Then, the radiation condition is satisfied by, so called, the panel shift method. The numerical results using the above two methods are compared with those using the thin ship/modified slender body approximation and also with the experimental results. The SWATH models considered are a single strut SWATH and a twin strut SWATH together with the variations of two demihull separation distance. In order to prove the validity of the program developed, the numerical calculations for a Wigley mono hull and Wigley twin hulls are compared with the available experimental results.

• Journal of Ocean Engineering and Technology
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• v.23 no.1
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• pp.89-95
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• 2009

The purpose of the present study was to evaluate the safety under extreme environmental conditions and the dynamic safety under service environment conditions, of oceanographic buoy mooring systems consisting of a variety of materials, including chain, wire rope, nylon rope, and polypropylene rope. For the static safety assessment of a mooring system, after the calculation of external forces and the division of a mooring system into finite elements, the numerical integral was conducted to yield the elemental static tension until satisfying the geometrical convergence condition. To evaluate the dynamic safety, various processes were considered, including data collection about the anticipated areas for mooring, a determination of the parameters for the interpretation, the interpretation of the dynamic characteristics based on an analytic equation that takes into account the heave motion effect of a buoy hull and a mooring system, and a fatigue analysis of the linear cumulative damage. Based on the analysis results, a supplementary proposal for a wire rope that has a fracture in an actual mooring area was established.

• Journal of the Korean Institute of Navigation
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• v.13 no.2
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• pp.23-36
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• 1989

Marine casualities in the high sea are mainly classified into the breakage of hull and capsize , of which the latter occurs frequently to a small craft and container vessels by extreme rolling. The aim of this study is to develop shiphandling techniques for the prevention of ship's large rolling by way of evaluating dangerous degree of rolling in heavy weather. In this study, rolling motion is analized by using statistical method as follow : (1) 8 sample ships is presented for calculation. (2) Analized sea state are Beaufort scale 7 and 10 (wind velocity 30kts and 50kts respectively) and significant wave height is put as 5.2m and 11.2m. (3) The formula recommended by International Towing Tank Conference (ITTC) is used to calculated the wave spectrum. The results of this study are as follow : The results of this study are as follow : (1) Most of the vessels with beam of 20 meters or less was found to be capized in the waves abeam under the sea condition of Bearfort scale7(30kts). (2) For the vessels range 20m to 30m was found safe under the sea conditions of Bearfort scale 7(30kts) and imminent danger under the sea condition of Beaufort scale 11(50kts). (3) It is proved that any vessel could be capsized by heavy rolling regardless of vessel's size whenever the motion is synchronized with waves abeam. This study concludes that the navigator, especially at night , must anticipate the exact wave direction, referring to the wether report and coastaline, not to lay the vessel in the serial wave abeam.

• Journal of the Society of Naval Architects of Korea
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• v.34 no.4
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• pp.1-11
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• 1997

When a barge is towed by a tug boat using a tow line, the barge is frequently subject to a large sway motion induced from its inherent yaw motions. This large sway motion combined with external forces due to winds and waves may makes the towing to be difficult or even dangerous. It has been reported that in worse situations, barges or tugs are capsized. In addition, the large sway motion of the towed barge gives a menace to the safety of ships navigating nearby. This paper is the results of the experimental investigation into the course stability of an 8,000 DWT barge using a Towing Tank and a Circulating Water Channel. Various skegs are designed and course stability tests for the barge with skegs are conducted in calm water and in irregular waves. It is observed that an effective skeg attached to the barge enables the sway motion to be zero while the sway amplitude of the bare hull is around 10 times its breadth.