• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.192-197
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• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• Ocean Systems Engineering
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• v.10 no.3
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• pp.333-357
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• 2020

International Maritime Organisation (IMO) regulations insist on reduced emission of CO₂, noxious and other environmentally dangerous gases from ship, which are usually let out while burning fossil fuel for running its propulsive machinery. Contrallability of ship during sailing has a direct implication on its course keeping and changing ability, and tries to have an optimised routing. Bad coursekeeping ability of a ship may lead to frequent use of rudder and resulting changes in the ship's drift angle. Consequently, it increases vessels resistance and also may lead to longer path for its journey due to zigzag movements. These adverse effects on the ship journey obviously lead to the increase in fuel consumption and higher emission. Hence, IMO has made it mandatory to evaluate the manoeuvring qualities of a ship at the designed stage itself. In this paper a numerical horizontal planar motion mechanism is simulated in CFD environment and from the force history, the hydrodynamic derivatives appearing in the manoeuvring equation of motion of a ship are estimated. These derivatives along with propeller thrust and rudder effects are used to simulate different standard manoeuvres of the vessel and check its parameters against the IMO requirements. The present study also simulates these manoeuvres by using numerical free running model for the same ship. The results obtained from both these studies are presented and discussed here.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.670-675
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• 1994

Yhis paper describes a fault diagnosis simulation of the Real-Time Multiple Fault Dignosis System (RTMFDS) for forcasting faults in a system and deciding current machine state from signal information. Comparing with other diagnosis system for single fault,the system developed deals with multiple fault diagnosis,comprising two main parts. One is a remotesignal generating and transimission terminal and the other is a host system for fault diagnosis. Signal generator generate the random fault signal and the image information, and send this information to host. Host consists of various modules and agents such as Signal Processing Module(SPM) for sinal preprocessing, Performence Monotoring Module(PMM) for subsystem performance monitoring, Trigger Module(TM) for multi-triggering subsystem fault diagnosis, Subsystem Fault Diagnosis Agent(SFDA) for receiving trigger signal, formulating subsystem fault D\ulcornerB and initiating diagnosis, Fault Diagnosis Module(FDM) for simulating component fault with Hierarchical Artificial Neural Network (HANN), numerical models and Hofield network,Result Agent(RA) for receiving simulation result and sending to Treatment solver and Graphic Agent(GA). Each agent represents a separate process in UNIX operating system, information exchange and cooperation between agents was doen by IPC(Inter Process Communication : message queue, semaphore, signal, pipe). Numerical models are used to deseribe structure, function and behavior of total system, subsystems and their components. Hierarchical data structure for diagnosing the fault system is implemented by HANN. Signal generation and transmittion was performed on PC. As a host, SUN workstation with X-Windows(Motif)is used for graphic representation.

• Journal of the Society of Naval Architects of Korea
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• v.53 no.1
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• pp.76-83
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• 2016

The various model tests are carried out to estimate and verify a ship performance in the design stage. But in view of the cost, the model test should be applied to every project vessel is very inefficient. Therefore, other methods of predicting the maneuverability with confined data are required at the initial design stage. The purpose of this study is to estimate the hydrodynamic derivatives by using the multiple regression analysis and PMM test data. The characteristics of the stern shape which has an important effect on the maneuverability are applied to the regression analysis in this study. The correlation analysis is performed to select the proper hull form coefficients and stern shape factors used as the variables in the regression analysis. The comparative analysis of estimate results and model test results is conducted on two ships to investigate the effectiveness of the maneuvering hydrodynamic derivatives estimation applied the stern shape. Through the present study, it is verified that the estimation using the stern shape factors as the variables are valid when the stern shape factors are located in the center of the database.

• Journal of Information Processing Systems
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• v.8 no.2
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• pp.359-374
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• 2012

In this paper, we propose a new machine vision algorithm for automatic defect detection on patterned textures with the help of texture-periodicity and the Jensen-Shannon Divergence, which is a symmetrized and smoothed version of the Kullback-Leibler Divergence. Input defective images are split into several blocks of the same size as the size of the periodic unit of the image. Based on histograms of the periodic blocks, Jensen-Shannon Divergence measures are calculated for each periodic block with respect to itself and all other periodic blocks and a dissimilarity matrix is obtained. This dissimilarity matrix is utilized to get a matrix of true-metrics, which is later subjected to Ward's hierarchical clustering to automatically identify defective and defect-free blocks. Results from experiments on real fabric images belonging to 3 major wallpaper groups, namely, pmm, p2, and p4m with defects, show that the proposed method is robust in finding fabric defects with a very high success rates without any human intervention.

• Journal of Ocean Engineering and Technology
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• v.32 no.5
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• pp.386-392
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• 2018

It is necessary to predict hydrodynamic derivatives when assessing the maneuverability of a submarine. The force and moment acting on the vehicle may affect its motion in various modes. Conventionally, the derivatives are determined by performing captive model tests in a towing tank or applying a system identification method to the free running model test. However, a computational fluid dynamics (CFD) method has also become a possible tool to predict the hydrodynamics. In this study, virtual captive model tests for a full-scale submarine were conducted by utilizing a Reynolds-averaged Navier-Stokes solver in ANSYS FLUENT version 18.2. The simulations were carried out at design speed for various modes of motion such as straight forward, drift, angle of attack, deflection of the rudder, circular, and combined motion. The hydrodynamic force and moment acting on the submarine appended rudders and stern stabilizers were then obtained. Finally, hydrodynamic derivatives were determined, and these could be used for evaluating the maneuvering characteristics of the submarine in a further study.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.2 s.140
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• pp.105-112
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• 2005

IMO standards for ship manoeuvrability were applied from January 1, 2004. Though model test or sea trial in full load condition is needed, it is not always possible to get such data for every ships. Therefore it is required to study the effect of loading conditions on ship manoeuvrability. Approximate formulae to estimate the hydrodynamic forces acting on a ship and the 2nd overshoot angle of $10^{\circ}$/$10^{\circ}$ zig-zag test in certain loading condition are proposed in this study These were derived from the results of model test and sea trial data. Captive model tests for 7 ships with 15 different loading conditions and sea trial data including free running test of 6 cases were used. Compared with experiment data and prediction formulae already proposed by others, the approximate formulae in this study show good agreement with model test results.

• Safety and Health at Work
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• v.7 no.2
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• pp.102-110
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• 2016

Background: This work presents an experimental and modeling study of the electromagnetic environment in the vicinity of a high voltage substation located in eastern Algeria (Annaba city) specified with a very high population density. The effects of electromagnetic fields emanating from the coupled multi-lines high voltage power systems (MLHV) on the health of the workers and people living in proximity of substations has been analyzed. Methods: Experimental Measurements for the Multi-lines power system proposed have been conducted in the free space under the high voltage lines. Field's intensities were measured using a referenced and calibrated electromagnetic field meter PMM8053B for the levels 0 m, 1 m, 1.5 m and 1.8 m witch present the sensitive's parts as organs and major functions (head, heart, pelvis and feet) of the human body. Results: The measurement results were validated by numerical simulation using the finite element method and these results are compared with the limit values of the international standards. Conclusion: We project to set own national standards for exposure to electromagnetic fields, in order to achieve a regional database that will be at the disposal of partners concerned to ensure safety of people and mainly workers inside high voltage electrical substations.

• Journal of the Korean Society of Systems Engineering
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• v.16 no.2
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• pp.110-117
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• 2020

In this paper, we estimated the straight line stability by performing a 3 degree of freedom spiral test simulation of a intact/damaged surface combatant using the hydrodynamic coefficient obtained through the PMM(Planar motion mechanism) test based on system engineering process. A model ship was ONR Tumblehome and damaged compartment was set on the starboard bow. As a result of conducting a spiral test simulation based on the experimental results of J.Ha (2018), the asymmetric straight line stability due to the damaged compartment was confirmed. In the case of a ship in which the starboard bow was damaged, it was confirmed that it had the characteristic to deflect to the left when going straight. Also, when estimating the straight line stability of a both port and starboard asymmetric surface combatant, a separated equation of motion model that sees the port and starboard as different ships seems suitable.

• Korean Journal of Materials Research
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• v.31 no.6
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• pp.339-344
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• 2021

Composite materials offer distinct and unique properties that are not naturally inherited in the individual materials that make them. One of the most attractive composites to manufacture is the aluminum alloy matrix composite, because it usually combines easiness of availability, light weight, strength, and other favorable properties. In the current work, Powder Metallurgy Method (PMM) is used to prepare Al2024 matrix composites reinforced with different mixing ratios of yttrium oxide (Y₂O₃) particles. The tests performed on the composites include physical, mechanical, and tribological, as well as microstructure analysis via optical microscope. The results show that the experimental density slightly decreases while the porosity increases when the reinforcement ratio increases within the selected range of 0 ~ 20 wt%. Besides this, the yield strength, tensile strength, and Vickers hardness increase up to a 10 wt% Y₂O₃ ratio, after which they decline. Moreover, the wear results show that the composite follows the same paradigm for strength and hardness. It is concluded that this composite is ideal for application when higher strength is required from aluminum composites, as well as lighter weight up to certain values of Y₂O₃ ratio.