• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.75-84
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• 2023

Ships need to ensure safety during their navigation, which makes route determination highly important. It must be accompanied by a route following controller that can accurately follow the route. This study proposes a method for automatically generating the ship route based on deep reinforcement learning algorithm and following it using a route following controller. To generate a ship route, under keel clearance was applied to secure the ship's safety and navigation chart information was used to apply ship navigation related regulations. For the experiment, a target ship with a draft of 8.23 m was designated. The target route in this study was to depart from Busan port and arrive at the pilot boarding place of the Ulsan port. As a route following controller, a velocity type fuzzy P ID controller that could compensate for the limitation of a linear controller was applied. As a result of using the deep Q network, a route with a total distance of 62.22 km and 81 waypoints was generated. To simplify the route, the Douglas-Peucker algorithm was introduced to reduce the total distance to 55.67 m and the number of way points to 3. After that, an experiment was conducted to follow the path generated by the target ship. Experiment results revealed that the velocity type fuzzy P ID controller had less overshoot and fast settling time. In addition, it had the advantage of reducing the energy loss of the ship because the change in rudder angle was smooth. This study can be used as a basic study of route automatic generation. It suggests a method of combining ship route generation with the route following control.

• Tribology and Lubricants
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• v.39 no.6
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• pp.268-272
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• 2023

This study explores the characteristics of tilting pad journal bearings used in the high-speed rotating shaft systems of centrifugal compressors. A centrifugal compressor is a high-speed rotating machine that is widely used to compress gases or vapors employed in various industrial applications. It transfers the centrifugal force of a fast-spinning impeller to the fluid and compresses it under high pressure. Many high-speed rotating shaft systems, which require high stability, use tilting pad journal bearings. The characteristics of these bearings can vary depending on several properties, and identifying the appropriate characteristics is essential to optimize the design on a case-to-case basis. In this study, the authors perform a time-dependent analysis of the properties of tilting pad journal bearings and the rotordynamics of the rotating shaft system using COMSOL Multiphysics software. Specifically, the authors analyze the characteristics of the tilting pad journal bearings by performing a parametric sweep using parameters such as pad clearance, maximum tilting angle, preload, number of pads, and pad pivot offset. The authors then use the results of the bearing-characteristics analysis to evaluate the vibration of the rotating shaft and verify its operation within a desirable range. The understanding gained from this study will allow us to determine the optimal properties of these bearings and the limiting operational speed using COMSOL Multiphysics software.

• Korean Journal of Applied Biomechanics
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• v.21 no.5
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• pp.541-550
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• 2011

The purpose of this study was to investigate the kinematic characteristics of the $5^{th}$ and $6^{th}$ hurdle clearances during the final of the 100-m hurdles event at the IAAF World Championships, Daegu 2011. To this end, the hurdling motions of the top 4 ranked female hurdlers in the competition were analyzed. A total of 12 cameras were used to record their motions, with a sampling frequency of 120 Hz. The cameras were calibrated using $11{\times}2{\times}1\;m$ control objects that covered all of the lanes ($1^{st}{\sim}8^{th}$ lanes). After analyzing all the data, we arrived at the following results. For the take-off phase, a negative relationship between the take-off time (CT) and athlete's rank was found. In addition, the average distances from the hurdle to take-off (L1) were shown to be 2.23 m and 2.17 m for the $5^{th}$ and $6^{th}$ hurdles, respectively. For the distance from the hurdle to landing (L2), Pearson ($1^{st}$ rank) and Carruthers($2^{nd}$ rank) showed inconsistent patterns whereas Harper ($3^{rd}$ rank) and Porter ($4^{th}$ rank) showed consistent patterns. All althetes revealed similar 3 steps patterns between hurdles, which consisted of a shorter $1^{st}$ step, longer $2^{nd}$ step and shorter $3^{rd}$ step.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.11a
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• pp.169-174
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• 2004

To design ship channel is one of important factors for planning and developing a port. In most case, the core factors for designing ship channel are the layout and width of dvnnel provided the net underkeel clearance is assessed as safety. In this study, Variable Bumper Area(VBA) model is applied to design and assess ship channel. This model reflects ship's principle dimension, ship domain theory, ship speed, conning officer's ship handling skill and experience and all external forces which cause leeway, set and drift and the change of ship maneuvering characteristics. Full Mission Ship Handling Simulator is used to analyze ship dynamic data according to conning officer's ship control, external forces, etc. This model uses Domain-index for assessing the efficiency and safety of the channel. The proposed model is applied to Ulsan new port plan which has a channel width of 1.5 times the length if the largest vessel, a radius if 5 times the length of the largest vessel in a curve of 57 degree centerline angle and SBM facility adjacent to the lateral edge if channel. The result of this study shows tint the width and radius of channel curve are suitable for the target ship but the difficulty of ship handling is caused by the large course change and SBM located in the vicinity if channel.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.3
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• pp.1645-1651
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• 2015

This paper describes the changes of shape accuracy in workpiece materials depending on the turning clearance angle. The experiments started from choosing three workpiece materials, SM45C(machine structural carbon steel), STS303(stainless steel) and SCM415 (chrome-molybdenum steel). The experiments showed specifically how features of selected materials changed when they were processed with diverse machining depths, 0.1 mm, 0.2 mm and 0.3 mm, with various negative angles, $0.0^{\circ}(-6.0^{\circ})$, $0.3^{\circ}(-6.3^{\circ})$ and $0.9^{\circ}(-6.9^{\circ})$, and called cutting edge inclination starting from a fixed rotational speed, 2,500 rpm, focusing on the feed rate, 0.07 mm/rev and 0.10 mm/rev. The results of the accuracy of processing, cylindricity, deviation from coaxiality, etc. were compared using the graph and table. The accuracy of cylindricity in the order of degree $0.0^{\circ}{\rightarrow}0.3^{\circ}{\rightarrow}0.9^{\circ}$ depending on the workpiece materials showed the best cylindricity when it was $0.9^{\circ}$. In conclusion, the accuracy improved in specific degrees irrespective of the quality of the materials when the bite negative angles increased. This means that workability improved in these experiments. In addition, the processing shape changed depending on depth of the cut and feed rate.

• Journal of Navigation and Port Research
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• v.29 no.1 s.97
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• pp.9-15
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• 2005

To design ship channel is one of important factors for planning and developing a port. In most case, the core factors for designing ship channel are the layout and width of channel provided the net underkeel clearance is secured to be safe enough to pass. In this study, Variable Bumper Area(VBA) model is applied to design and assess ship channel. This model reflects ship's particular, ship domain theory, ship speed and mariner's ship handling skill and experience, especially external forces which cause leeway, set and drift and the change of ship maneuvering characteristics. A real time, full mission shiphandling simulator is used to analyze ship dynamic data according to mariner's ship control, external forces, ete. This model defines Domain degree and Domain-index for assessing the efficiency and safety of the channel. The proposed model is applied to Ulsan new port plan which has a channel width of 1.5 times the length of the largest vessel, a radius of 5 times the length of the largest vessel in a curve of 57 degree centerline angle and SBM facility adjacent to the lateral edge of channel. The result of this study shows that the width of the channel and radius of channel curve are suitable for the target ship but the difficulty of ship handling is caused by the large course change and SBM located in the vicinity of channel.

• Journal of Navigation and Port Research
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• v.39 no.6
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• pp.539-544
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• 2015

There is drift toward moving offshore structures operating sites to deep water that brings subsea systems and types of apparatus to meet more severe environment than onshore. At this moment, climatic condition and seabed state affect trenching efficiency so trenching process is need to make steady progress in a short time. This paper is research on estimation about construction performance of waterjet trenching machine mounted on ROV trencher. Optimal number of nozzles that can maximize trenching efficiency is selected by considering clearance and angle of nozzles through CFD. Then verified effectiveness of waterjet apparatus on the result of trenching depth and velocity by model test analogized performance for construction work of waterjet trenching machine.