• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.51-57
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• 2013

Recently, the number of jellyfish has been rapidly grown because of the global warming, the increase of marine structures, pollution, and etc. The increased jellyfish is a threat to the marine ecosystem and induces a huge damage to fishery industries, seaside power plants, and beach industries. To overcome this problem, a manual jellyfish dissecting device and pump system for jellyfish removal have been developed by researchers. However, the systems need too many human operators and their benefit to cost is not so good. Thus, in this paper, the design, implementation, and experiments of autonomous jellyfish removal robot system, named JEROS, have been presented. The JEROS consists of an unmanned surface vehicle (USV), a device for jellyfish removal, an electrical control system, an autonomous navigation system, and a vision-based jellyfish detection system. The USV was designed as a twin hull-type ship, and a jellyfish removal device consists of a net for gathering jellyfish and a blades-equipped propeller for dissecting jellyfish. The autonomous navigation system starts by generating an efficient path for jellyfish removal when the location of jellyfish is received from a remote server or recognized by a vision system. The location of JEROS is estimated by IMU (Inertial Measurement Unit) and GPS, and jellyfish is eliminated while tracking the path. The performance of the vision-based jellyfish recognition, navigation, and jellyfish removal was demonstrated through field tests in the Masan and Jindong harbors in the southern coast of Korea.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.1
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• pp.27-36
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• 2012

The mobile harbor is a new concept system to solve the problems of a port. These problems are that container ships cannot be anchored at the dock because they have become larger or the waiting times of anchoring the ships are increased due to heavy container traffic. A new system is designed to carry out the loading and unloading of containers between the mobile harbor and the container ship using the mobile harbor crane at sea. The crane plays an important role when transferring the containers. In this research, various types of the mobile harbor crane are proposed and structural optimization for each type of the crane is carried out. The loading conditions consider the rolling and pitching conditions of the unstable sea state and the wind force are considered. The constraints are mainly the regulations made by the Korean Register of Shipping. The structure of the crane is optimized to minimize the mass while various constraints are satisfied.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.12
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• pp.1265-1273
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• 2015

A coal handling machine is a type of equipment used for loading coal, the main material in a steam power plant, along a conveyer belt from a ship, and is placed after the driving chain bucket. However, studies on the boom hoisting cylinder, which is a hydraulic system used to control the angle of the boom based on loading location, indicate that domestic models are insufficient, and are thereby often substituted with a foreign product. In this study, a technique for analyzing the contact pressure in a thick-walled cylinder was established by comparing the contact pressure, which is calculated theoretically based on the results obtained from FEM simulation, and by checking whether the working oil is leaking from the boom hoisting cylinder using a v-seal. In addition, the driving motion was simulated according to the strokes of the cylinder, and the structural stability was verified under the maximum output conditions.

• Journal of the Korean Society for Marine Environment & Energy
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• v.13 no.2
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• pp.83-90
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• 2010

The hydrodynamic interaction of two floating bodies in waves freely floating or connected by a rigid link is studied by using a boundary element method in the frequency-domain. The exact two-body hydrodynamic coefficients of added mass, wave damping and exciting force are calculated from the radiation-diffraction potential solution of the improved Green integral equation associated with the free surface Green function. The irregular frequencies in the conventional Green integral equation make it difficult to predict the physical resonance of the fluid in the gap between two bodies floating side by side. However, the improved Green integral equation employed in this study is free of irregular frequencies and always yields the exact solution of the multi-body radiation-diffraction potential boundary value problem. The 6 degree-of-freedom motions of two bodies freely floating side by side or connected parallel by a rigid link have been calculated for the incident wave frequencies ranging from 0.1 to 5 radians per second in head, left and right bow quartering seas. The 6-component load of the rigid link have also been presented.

• Journal of Navigation and Port Research
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• v.30 no.3 s.109
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• pp.241-245
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• 2006

Displayed result that handle particle contaminant and hydrospace organism included a number of ballast that is happened in ship using automatic back washing filter. Reason that removes first contaminant that is included in number of ballast is that heighten processing effectof after processing processof the filter. Another advantage is to drop off the solids with controlling revolution of drum screen in pretreatment filtration process. The fact that it is easy to attach and detach a several type of screen for getting the expected water quality is another advantage. Filter rotation speed of filtration filter could be expose by 35mmHg more than 60 rpm and filter consecutively filtration pressure is 40.5mmHg in 20 rpm and 40 rpm are 36.6mmHg. Filtration system removal aquatic organism over $70{\mu}min$ ballast water. This study shows that the filtration treatment system has a potential for the treatment of ballast water.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.7
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• pp.1457-1467
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• 2015

Depending on the type of Tx-Rx pairs, VHF Data Exchange System (VDES) for maritime communication is expected to employ the different frequency channels. Load imbalance between the different channels turns out to be a critical problem for the multi-hop communication using Ad-hoc Self-Organizing TDMA (ASO-TDMA) MAC protocol, which has been proposed to provide the connectivity between land station and remote ship stations. In order to handle the inter-channel load imbalance problem, we consider a model of the stochastic geomety in this paper. After analyzing the spatial reuse efficiency in each hop region by the given model, we show that the resource utility can be maximized by balancing the inter-channel traffic load with optimal resource allocation in each hop region.

• Journal of Advanced Marine Engineering and Technology
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• v.35 no.5
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• pp.675-681
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• 2011

In this paper, we dealt with the design and fabrication of a medium pressure ultra-violet (UV) lamp and a magnetic ballast which are main components for ballast water treatment systems (BWTS). To acquire an optimal discharge condition of UV lamp, electrical and optical characteristics depending on the argon gas volume and the amount of mercury were experimentally analyzed. Rated voltage, current and power consumption of a prototype lamp were 490 [V], 8.6 [A] and 4.0 [kW], respectively. UV intensity of the lamp was 15 [%] higher than that of an equivalent lamp which is used in a BWTS. The magnetic ballast was designed in a UI core type through theoretical analysis and simulation. The open voltage and the rated power consumption of the ballast were 920 [V] and 8.5 [kVA] respectively. The disinfection efficacy which is carried out in a BWTS equipped with the UV lamp and magnetic ballast was over 99.99 [%], and this satisfy the IMO regulations.

• Journal of the Korean Society for Marine Environment & Energy
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• v.9 no.2
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• pp.92-97
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• 2006

Hull forms of a high speed small boat have been developed through numerical studies. A round bilge type hull form has been drived form a using chine hull form with HCAD, a hull form variation software. Wave resistance and the flow fields around the ships have been computed using well-known software, WAVIS. This software employs Rankine source method with non-linear tree surface condition as well as dry transom boundary conditions. The round bilge hull form showed better resistance performance than to the chine hull form for the whole speed range. However, considering the building and labor costs of the small shipyard, the chine hull form has been selected and its wave resistance characteristics has been improved by modifying the bow regions and applying the stem wedge. It is found that the effect of stem wedge is quite satisfactory to improve the resistance characteristics of high speed chine hull form.

• 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.

• 한국신재생에너지학회:학술대회논문집
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• 2011.11a
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• pp.159.2-159.2
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• 2011

Hyundai Heavy Industries has developed a tidal current energy converter utilizing the accumulated technology as the world largest constructor for ship and offshore structures. The model has two sets of turbines in both ends in order to utilize the bi-directional current flows in flood and ebb tide. The torque produced by turbine in tidal current is directly delivered to generator along the horizontal axis, in which the turbine, gear, generator, gear and turbine are connected successively. The manufactured model for field test has the turbine diameter of 5 meters to produce the maximum power of 500kW at maximum current speed of 5m/s. The technical verification of tidal power converter was performed by means of small scale model test in towing tank as well as field test at the Strait of Uldolmok located in Jindo of Jeollanamdo province. Field test was performed by mounting the tidal current converter on the SEP(Self Elevating Platform) which could lower the 4 vertical legs on the seabed and could elevate platform over the water surface using the hydraulic power for itself. The field test performed for a month shows that power output is similar or larger compared with the expected one in design stage. This paper presents the development of tidal current energy converter and real sea field test by Hyundai Heavy Industries. This project has finished successfully and provided the technical advance toward commercial services for tidal current power generation in the south-west region in Korea.