• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.296-300
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• 2003

The autopilot system targets decreasing labor, working environment improvement, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization. Dynamic Ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And Load Condition of ship as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that is disturbance act in non-linear from, become factor who make serv ice of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using fuzzy algorithm ,Design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.94-100
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• 2014

In order to intercept anti-ship missiles, it is important to accurately predict the aiming point. The major factor for degrading the accuracy of the aiming point is the motions of the warships due to waves. Therefore, a stage of correcting the aiming point is required to compensate for such motions of warships. The proposed aiming point correction technique treats the changes in positions and velocity of naval guns by considering changes in the positions and velocities of the anti-ship missiles. In this paper, a ship motion estimation filter was also constructed to predict the motions of warships at the firing time of naval guns. In the simulation part, finally, the distance errors before and after aiming point corrections were compared through 6-DOF simulations.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.2
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• pp.71-78
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• 2020

This paper proposes vision sensors and deep learning-based around view monitoring system for ship berthing. Ship berthing to the port requires precise relative position and relative speed information between the mooring facility and the ship. For ships of Handysize or higher, the vesselships must be docked with the help of pilots and tugboats. In the case of ships handling dangerous cargo, tug boats push the ship and dock it in the port, using the distance and velocity information receiving from the berthing aid system (BAS). However, the existing BAS is very expensive and there is a limit on the size of the vessel that can be measured. Also, there is a limitation that it is difficult to measure distance and speed when there are obstacles near the port. This paper proposes a relative distance and speed estimation system that can be used as a ship berthing assist system. The proposed system is verified by comparing the performance with the existing laser-based distance and speed measurement system through the field tests at the actual port.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.1
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• pp.102-108
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• 2010

The T-S fuzzy model of a ship is made from the nonlinear extension of Nomoto's 2nd-order model as the previous step before designing of the fuzzy type autopilot to consider the design specifications and the economic efficiency. The T-S fuzzy model is considered as a design variable of the heading angular velocity of ship. The linear models will be combined as "IF-THEN" fuzzy rules after get in this one area of the linear model(sub-system) by change of the heading angular velocity of a ship. The dynamic characteristic of a ship with the parameters of linear models and fuzzy membership functions are estimated to match by using the model adjustment technic with input/output data and a RCGA.

• Journal of the Society of Naval Architects of Korea
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• v.55 no.3
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• pp.187-195
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• 2018

Ship's bottom slamming has been studied by many researchers for a very long time. But still some ships suffer structure damages caused by the bottom slamming impacts. This paper presents a practical computation method of the design impact pressure due to ship's bow bottom slamming. Large heave and pitch motions of a rigid hull ship are simulated by the nonlinear strip method in time domain and the relative colliding velocity between the bow bottom and the water surface is calculated using the simulated ship motions. The bottom slamming impact pressure is calculated as a product of the relative colliding velocity squared and the bottom slamming pressure coefficient that is obtained by modification of the SNAME pressure coefficients based on Ochi's slamming experiments. Not only the bottom slamming pressures but also the required bottom plate thicknesses are calculated and compared with those of the classification society rules. The comparisons show good agreements and it is confirmed that the present method is practically very useful for the bottom structure design against ship's bow bottom slamming impacts.

• Journal of Ocean Engineering and Technology
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• v.36 no.3
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• pp.143-152
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• 2022

To reach a port, a ship must pass through a shallow water zone where seabed effects alter the hydrodynamics acting on the ship. This study examined the maneuvering characteristics of an autonomous surface ship at 3-DOF (Degree of freedom) motion in deep water and shallow water based on the in-port speed of 1.54 m/s. The CFD (Computational fluid dynamics) method was used as a specialized tool in naval hydrodynamics based on the RANS (Reynolds-averaged Navier-Stoke) solver for maneuvering prediction. A virtual captive model test in CFD with various constrained motions, such as static drift, circular motion, and combined circular motion with drift, was performed to determine the hydrodynamic forces and moments of the ship. In addition, a model test was performed in a square tank for a static drift test in deep water to verify the accuracy of the CFD method by comparing the hydrodynamic forces and moments. The results showed changes in hydrodynamic forces and moments in deep and shallow water, with the latter increasing dramatically in very shallow water. The velocity fields demonstrated an increasing change in velocity as water became shallower. The least-squares method was applied to obtain the hydrodynamic coefficients by distinguishing a linear and non-linear model of the hydrodynamic force models. The course stability, maneuverability, and collision avoidance ability were evaluated from the estimated hydrodynamic coefficients. The hydrodynamic characteristics showed that the course stability improved in extremely shallow water. The maneuverability was satisfied with IMO (2002) except for extremely shallow water, and collision avoidance ability was a good performance in deep and shallow water.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.27 no.1
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• pp.14-19
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• 2017

Fuel oil consumption cost varies depending on every ship operation and this roughly amounts to 70 % of shipping companies' total revenue. As such, efforts towards improved fuel economy are being pursued. An annual 1 % reduction in fuel consumption is perceived to result in saving tens million US dollars on the global fleet operation. One approach is the application of power take-off configurations which are seen to increase fuel oil economy and are suitable for power generation. In this study, the dynamic properties of a shaft generator coupled on a 10S90ME main engine of an 18 600 TEU container vessel is presented. The vibratory torque and angular velocity variation was examined through theoretical analysis and actual vibration measurement. The result of the study suggests a review on existing classification rules for generator design and the lowering of vibratory torque and angular velocity variation guideline.

• Journal of the Korean Institute of Navigation
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• v.17 no.1
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• pp.37-48
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• 1993

When the vessel is running at the very low Froude numbers, the free-surface is difficult to be disturbed, wave-making is negligible, and the double -model velocity potential gives a very good approximation for calculating the velocity distribution just outside the boundary layer. If the speed of incident flow is gradually increased, the most perceptible change is the rise of the flow surface at stem. With further increase in speed, the nature of the flow at the bow changes completely, The flow ahead of the bow becomes more distrubed, the rise at the stem to stagnation height disappear, and the first wave crest, of less than the stagnation height, appears a small distance downstream from the stem. The present study is concerned with a small region of this flow, mainly in the bow region. The present investigation is primarily an experimental study of the flow in the bow region of s ship model, and it is undertaken in order to investigated systematically, the effect of bow geometry on this flow. The long-range objective is to use these results to guide the development of a mathematical model for predicting the flow about a ship's bow.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.2
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• pp.364-374
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• 2015

The purpose of this research is to compare and analyze the advanced speed of ships with different rudder controller in wavy condition by using a simulation. The commercial simulation tool named AQWA is used to develop the simulation of ship which has 3 degree of freedom. The nonlinear hydrodynamic force acting on hull, the propeller thrust and the rudder force are calculated by the additional subroutine which interlock with the commercial simulation tool, and the regular wave is used as the source of the external force for the simulation. Rudder rotational velocity and autopilot coefficients vary to make the different rudder controller. An advanced speed of ships depending on the rudder controller is analyzed after the autopilot simulations.

• Journal of the Society of Naval Architects of Korea
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• v.51 no.1
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• pp.67-77
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• 2014

In this study, Explicit Algebraic Reynolds Stress Model (EARSM) which is based on the existing ${\kappa}-{\omega}$ model has been applied to the flow field analysis around ship hulls. Existing transport equations for the turbulent kinetic energy and the dissipation rate are used in almost the same form and anisotropy terms of Reynolds stresses are newly considered. The well-known KVLCC2 and KCS hull forms are selected as validation cases, which were also used in 2010 Workshop on CFD in Ship Hydrodynamics. In case of KVLCC2 double model, comparison of mean velocity distribution, turbulent kinetic energy, and Reynolds stresses near the propeller plane has been carried out and wave elevation and wave profiles have been additionally studied for KCS and KVLCC2 with free surface models. Some improved results for mean velocity distribution at the propeller plane have been obtained while there is little change in free surface wave profiles.