• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.953-957
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• 2001

This paper is concerned with a transfer alignment method for the SDINS under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonliner measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2007년도 추계학술대회 및 제23회 정기총회
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• pp.29-30
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• 2007

This paper deals with effect of wind forces and moment acting on the training ship SAE NUR/. The results of drift angle and counter rudder angle due to wind effect are calculated by using the static equilibrium method especially with nonlinear mathematical expression, and then the critical wind velocity is found out. The given results am be applied directly to T/S SAE NURI in handling under the wind condition and used for merchant ships as a referential tool.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.486-486
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• 2000

This paper is concerned with a transfer alignment method for the SDINS(StrapDown Inertial Navigation System) under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 대한조선학회논문집
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• 제44권4호
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• pp.370-378
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• 2007

In this study. a numerical analysis has been performed for the turbulent flow around a 15,000TEU twin-skeg container ship using a commercial CFD code. FLUENT. The computed results have been compared with the model test data from MOERI. We investigated viscous resistance coefficient. wake distribution and characteristics of the shear flow according to the grid numbers. Although the free surface is approximated by the plane of symmetry in this work. the calculated axial velocity and transverse vector show a good agreement with the MOERI experimental data except for the region of 0.9 level of axial velocity at the propeller plane. The numerical analysis show that commercial CFD code is useful tool for the evaluation of complex hull form with twin-skegs.

• International Journal of Naval Architecture and Ocean Engineering
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• 제10권6호
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• pp.683-691
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• 2018

Numerical simulations of turbulent flows around KCS have been performed to study the sensitivity of ship resistance to wall-adjacent grids and disclose the influence of near-wall treatment on the sensitivity of ship resistance. The resistance coefficients of viscous and pressure forces were compared when using realizable $k-{\varepsilon}$ and SST $k-{\omega}$ turbulence models in structured and unstructured grids, respectively. The calculation of friction velocity was found to be mainly responsible for the reduction of viscous and total resistances when the height of wall-adjacent cells increased. Since the assumption of equilibrium state between turbulent production and dissipation was not met in a bulbous bow, it was more reasonable to iteratively calculate the friction velocity from empirical laws of the wall for near-wall treatment rather than explicitly estimate it from the turbulent kinetic energy.

• 한국항해항만학회지
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• 제32권2호
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• pp.115-120
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• 2008

This paper deals with effect of wind forces and moment acting on the training ship SAE NURI. The results of drift angle and counter rudder angle due to wind effect are calculated by using the static equilibrium method especially with nonlinear mathematical expression, and then the critical wind velocity is found out. The given results can be applied directly to T/S SAE NURI in handling under the wind condition and used for merchant ships as a referential tool.

• 한국해양공학회지
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• 제13권2호통권32호
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• pp.138-146
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• 1999

The viscous flow around a ship hull is calculated by the use of RANS(Reynolds-averaged Navier-Stokes) solver. Reynolds stresses are midelled by using the k-${epsilon}$ turbulence model and the law is applied near the body. Body fitted corrdinates are introduced for the treatment of the complex boundary of the ship hull form and the governing equations in the physical domain transformed into ones in the computational domain. The transformed equations are numerically solved by an employment of FVM(Finite Volume Method). SIMPLE(Semi-Implicit Pressure Linked Equation) method is adopted in the calculation of pressure and the solution of the sidcretized equation is obtained by the line-by-line method with the use of TDMA(Tri-Diagonal Matrix Algorithme). To assure the proprietty of this computing method, HSVA tanker and Dyne hull are calculated ar both model and ship scale Reynolds number. Their reaults of pressure distributions on fore and aft body, axial velocity contours and transverse velocity velocity vectors and viscous resistance coefficients are compared with other's experiments and calculations.

• 대한조선학회논문집
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• 제55권3호
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• pp.265-273
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• 2018

Direct numerical and large eddy simulations of transitional flows around studs installed on flat plate and bulbous bow have been performed to investigate an effectiveness of turbulence stimulators on laminar-to-turbulence transition at a very low speed. The flow velocity was determined to be 0.366m/s corresponding to 4 knots of full-scale ship speed when the objective ship was Kriso container ship. The spatial evolution of skin friction coefficient disclosed that a fully development of turbulence was observed behind the second stud installed on flat plate while a rapid transition from laminar to turbulence gave rise to the fully development of turbulence behind the first stud installed on bulbous bow. A comparison of streamwise mean velocity profiles showed that the viscous sublayer and log-layer were in good agreement with previous results although the friction velocity of Smagrosinsky sub-grid scale model was about 10% larger than that of direct numerical simulation. While the turbulence intensities of bulbous bow was similar to those of flat plate in inner region, larger intensities of turbulence were observed in outer region of bulbous bow than those of flat plate.

• 대한조선학회논문집
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• 제44권2호
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• pp.166-173
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• 2007

Collision analysis problems between ship to ship can be generally classified into the external mechanics(outer dynamics) and internal mechanics(inner dynamics). The former can be also dealt with the concept of fluid-structure interaction and the use of rigid body dynamic program, depending on the ways handling the hydrodynamic pressure due to surrounding water. In this study, full scale ship collision simulation was carried out, such as a DWT 75,000 ton striking ship collided at right angle to the middle of a DWT 150,000 struck ship with 10 knots velocity, coupling MCOL, a rigid body mechanics program for modeling the dynamics of ships, to hydrocode LS-DYNA. It could be confirmed that more suitable damage estimation would be performed in the case of the collision simulations with consideration of surrounding water through the comparison with the collision simulation results of fixed struck ships without it. Through this study, the opportunity could be obtained to establish a more effective ship collision simulation technique between ship to ship.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권2호
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• pp.347-360
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• 2014

The auto-berthing of a ship requires excellent control for safe accomplishment. Crabbing, which is the pure sway motion of a ship without surge velocity, can be used for this purpose. Crabbing is induced by a peculiar operation procedure known as the push-pull mode. When a ship is in the push-pull mode, an interacting force is induced by complex turbulent flow around the ship generated by the propellers and side thrusters. In this paper, three degrees of freedom equations of the motions of crabbing are derived. The equations are used to apply the adaptive backstepping control method to the auto-berthing controller of a cruise ship. The controller is capable of handling the system non-linearity and uncertainty of the berthing process. A control allocation algorithm for a ship equipped with two propellers and two side thrusters is also developed, the performance of which is validated by simulation of auto-berthing.