• Journal of the Society of Naval Architects of Korea
• /
• v.61 no.3
• /
• pp.170-184
• /
• 2024

With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.

• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.3
• /
• pp.318-325
• /
• 2015

Korea has very strong shipbuilding industry in the world, so many new ships are constructed in Korean shipyards. These built vessels are carrying out sea trial at sea before delivering to shipowner, and sea trial ships cause navigation risk to other passing vessels to accomplish sea trial tests as quick turning, zigzag maneuvering and crash astern etc. in traffic congestion conditions. It occurred more than 1 collision accident related sea trial for recent 5 years. It has been increased about 30% of risk because of navigation of sea trial vessel by marine traffic flow simulation. This paper analyzed marine traffic density surveyed by AIS data for 7 days, and investigated position of marine accidents for 5 years in Korean coastal waterway, it established the sea trial prohibition areas as 10/100 level of total marine traffic volume, which is considered no danger for ship operator. This analyzed maritime safety law for setting of the prohibition waters to propose the basic legal system. It makes contribution to marine pollution prevention by setting of the sea trial prohibition water to improve the ship's navigation safety.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.25 no.5
• /
• pp.617-626
• /
• 2019

This study analyzes the optimal location of gas detectors through the gas dispersion in a cargo compressor room of a 174K LNG carrier equipped with high-pressure cargo handling equipment; in addition, we propose a reasonable method for determining the safety regulations specified in the new International Code of the Construction and Equipment of Ships Carrying Liquefied Gases in Bulk (IGC). To conduct an LNG gas dispersion simulation in the cargo compressor room-equipped with an ME-GI engine-of a 174 K LNG carrier, the geometry of the room as well as the equipment and piping, are designed using the same 3D size at a 1-to-1 scale. Scenarios for a gas leak were examined under high pressure of 305 bar and low pressure of 1 bar. The pinhole sizes for high pressure are 4.5, 5.0, and 5.6mm, and for low pressure are 100 and 140 mm. The results demonstrate that the cargo compressor room will not pose a serious risk with respect to the flammable gas concentration as verified by a ventilation assessment for a 5.6 mm pinhole for a high-pressure leak under gas rupture conditions, and a low-pressure leak of 100 and 140 mm with different pinhole sizes. However, it was confirmed that the actual location of the gas detection sensors in a cargo compressor room, according to the new IGC code, should be moved to other points, and an analysis of the virtual monitor points through a computational fluid dynamics (CFD) simulation.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.27 no.7
• /
• pp.1106-1115
• /
• 2021

In this study, a fin that controls ship stern flow was attached on stern hull of a 80k bulk carrier to improve resistance performance. The rectangular cross-sectional fin was attached at several locations on the hull, and angle to streamline was changed with constant length, breadth, and thickness. The resistance performance and wake on propeller plane of the hull with and without the fin were analyzed using model-scale computational fluid dynamics simulation. The analysis results were extrapolated to full-scale to compare the performance and wake of the full-scale ship. First, the fin changed path of bilge vortex that flowed into the propeller along the stern hull without the fin to transom stern. This change increased pressure of the stern hull and upper region of the propeller, so pressure resistance and total resistance of the hull were reduced - the nearer the fin location to after perpendicular (AP) and base line of the hull, the larger the reduction of the resistances. Second, nominal wake fraction of the hull with the fin was lower than that without the fin. This dif erence was in proportion to the angle of the fin, but the total resistance reduction was in proportion until a certain angle at which the reduction was maximum. The largest total resistance reduction was approximately 2.1% at 12.5% of length between perpendiculars from the AP, 10% of draft from the base line, and 14° with respect to the streamline.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.7
• /
• pp.3184-3190
• /
• 2013

These days, the great part of design processes in the field of ship or offshore manufacturing are planed and implemented using the customized CAD system for each ship-building companies. It means that all information for design and production could be extracted and reused at the useful other area cost considerable time and efforts. The representative example is the estimation of welding length and material amount which is demanded during the construction of ship or offshore structures. The proper estimation of welding material to be used and the usage of them at the stage of schedule planning is mostly important to achieve the seamless process of production and expect the costing in advance. This study is related to the calculation of welding length and needed material amount at the stage of design complete utilizing the CAD system. The calculated amount are classified according to welding position, stage, block, bevel and welding type. Moreover it is possible to predict the working time for welding operation and could be used efficiently for the cost management using the results of this research.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.22 no.1
• /
• pp.108-117
• /
• 2016

In this paper, a portal system compatible with MRV regulation was designed to monitoring, reporting and verifying $CO_2$ emission and fuel consumption data from an international ship. A portal system supports monitoring and reporting task of international shipping companies and calculates national greenhouse gas inventory. EU MRV law, MRV discussions of IMO, responses of international shipping companies to ship energy efficiency and greenhouse gas regulation, and greenhouse gas statistics on international shipping were analyzed to drive portal system requirements. For ship energy efficiency and $CO_2$ emitted monitoring, a data collection module was designed based on on-board equipment, energy efficiency measuring device and navigation report. Data transfer module with easy management and minimized usage to transfer ship data to shore was designed. A portal system was designed to convert the collected data into the standard reporting format, perform monitoring, statical analysis, verification and auto report generation, and support national greenhouse gas inventory.

• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.7
• /
• pp.744-753
• /
• 2015

This paper presents the results of research on developing marine unified communications to provide VoIP service based on marine satellites. With the recent popularity of smart-phones and other mobile devices, the demand for Internet-based wired and wireless unified technology has been growing in marine environments, and increasing interest is being directed to VoIP products and service models with high price competitiveness and the ability to deliver a variety of services. In this regard, this research designed three instruments, developed their unit modules, and verified their performances. These three instruments included the following: (1) a marine VoIP module equipped with an analogue gateway that can be linked to the existing devices used in vessels, which is more than 80% smaller than that of a land system; (2) a text/voice/video engine for marine satellite communications that runs on technology that minimizes communication data usage, which is a core technology for a marine VoIP service; and (3) a unified communication service that can support multilateral cloud-based message conversations, telephone number-based call functions, and voice/video calling between a private space in a ship and shore.

• Journal of Navigation and Port Research
• /
• v.28 no.1
• /
• pp.9-16
• /
• 2004

The purpose of this study is to examine the algorithm of ship collision avoidance system and to improve its performance. The study on the algorithm of ship collision avoidance system have been carried out by many researchers. We can divide the study according to the adopted theory into two category such as 'collision risk calculation method' and 'risk area method'. It is not so difficult to find heir merit and demerit in the respective method. This study suggested newly modified model, which can overcome a limit in the two method. The suggested model is based on collision risk calculation method and suggests how to solve the threshold value problem, that is, one of the unsolved issues in collision risk calculation method. To solve that problem this study proposed new system under which the users can select appropriate threshold value according to environments such as traffic situations and weathers conditions. Simulation results of new model is schematized using 'risk area method'to examine the relationships between the two method. In addition, in case of 'collision risk method', when TCPA and DCPA are used to determine collision risk, a problem happens, that is, two ships become too close in their stem area, therefore, partial function of 'risk area method'is adopted to solve the problem in suggested model.

• Journal of Navigation and Port Research
• /
• v.33 no.10
• /
• pp.671-678
• /
• 2009

Recently, there have been some researches in the equipment fault detection based on shock and vibration information. Most research of them is based on shock and vibration monitoring to determine the equipment fault or not. Different with engine fault detection based on shock and vibration information we focus on detection of engine for boat and system control. First, it use the duplicated-checking method for shock and vibration information to determine the engine fault or not. If there is a fault happened, we use the integral to determine the error engine shock wave width and detect the fault area. On the other hand, we use the engine trend analysis and standard of safety engine to implement the shock and vibration information database. Our simulation results show that the probability of engine fault determination is 98% and the probability of engine fault detection is 72%

• Journal of Aerospace System Engineering
• /
• v.16 no.4
• /
• pp.60-67
• /
• 2022

An Electro-Optical Tracking System (EOTS) is an electric optical system with EO/IR cameras, laser sensors, and an IMU. The EOTS calculates coordinates of targets, using attitude and acceleration measured by the IMU. In particular for an armed aircraft, the performance of the weapon system depends on how quickly and accurately it acquires the target coordinates. The IMU should be operated after alignment is complete, to meet the coordinate accuracy required by the weapon system so the initial stabilization time of the IMU should be reduced, by quickly measuring the attitude and acceleration. Alignment is the process of determining the initial attitude by resolving the attitude error of the IMU, and the IMU of mission equipment such as an airborne EOTS, uses velocity matching based on the velocity from GPS/INS for aircraft navigation. In this paper, a method is presented to improve the transfer alignment performance of the airborne EOTS, by maneuvering aircraft and the mission equipment. First, the performance factor of the alignment was identified, as a heading error through the velocity matching model and simulation results. Then acceleration maneuvers and attitude changes were necessary, to correct the error. As a result of flight tests applied to an EOTS on a OOO aircraft system, the transfer alignment performance was improved as the duration time was decreased, by more than five times when the aircraft accelerated by more than 0.2g and the EOTS was moving until 6.7deg/s.