• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.3
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• pp.131-139
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• 2024

Crew Transfer Vessels (CTVs) are primarily used for the maintenance of offshore wind farms. Despite being manually operated by professional captains and crew, collisions with other ships and marine structures still occur. To prevent this, the introduction of autonomous navigation systems to CTVs is necessary. In this study, research on the obstacle avoidance system of the autonomous navigation system for CTVs was conducted. In particular, research on obstacle avoidance simulation for CTVs using deep reinforcement learning was carried out, taking into account the currents and wind loads in offshore wind farms. For this purpose, 3 degrees of freedom ship maneuvering modeling for CTVs considering the currents and wind loads in offshore wind farms was performed, and a simulation environment for offshore wind farms was implemented to train and test the deep reinforcement learning agent. Specifically, this study conducted research on obstacle avoidance maneuvers using MATD3 within deep reinforcement learning, and as a result, it was confirmed that the model, which underwent training over 10,000 episodes, could successfully avoid both static and moving obstacles. This confirms the conclusion that the application of the methods proposed in this study can successfully facilitate obstacle avoidance for autonomous navigation CTVs within offshore wind farms.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.1
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• pp.40-46
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• 2017

Shipping activities have become possible in the Arctic Ocean due to melting ice by global warming. An increasing number of vessels are passing through the Arctic Ocean consequently bringing concerns of ship-iceberg collisions. Thus, most classification societies have implemented regulations to determine requirements for ice strengthening in ship structures. This paper presents the simulation results of an ice-strengthened polar class ship after an iceberg collision. The ice-strengthened polar class ship was created in accordance with the Unified Requirements for a Polar-Ship (IACS URI). An elastic-perfect plastic ice model was adopted for this simulation with a spherical shape. A Tsai-Wu yield surface was also used for the ice model. Collision simulations were conducted under the commercial code LS-DYNA 971. Hull deformations on the ice-strengthened foreship structure and collision interaction forces have been analysed in this paper. A normal-strength ship structure in an iceberg collision was also simulated to present comparison results. Distinct differences in structural strength against ice impact forces were shown between the ice-strengthened and normal-strength ship structures in the simulation results. About 1.8 m depth of hull deformation was found on the normal ship, whereas 1.0 m depth of hull deformation was left on the ice-strengthened polar class ship.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.3
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• pp.346-351
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• 2018

The proportion of collision in the total marine accidents is high. The main causes of collisions are navigation rule violation, safety speed violation, neglected watch-keeping and improper collision avoidance action. There are two main ways of avoiding collision situations during maritime navigation: the method of altering course and reducing ship's speed. The purpose of this study is to analyze the result of the collision avoidance action of the reserve officer in case of encountering a multiple number of ships using the ship handling simulator. Full-mission ship handling simulator was used to experiment the situation scenarios that encountered multiple ships. After the experiment, the questionnaire about the experiment was investigated. A total of 50 subjects were participated in the experiment. Experimental results showed that the number of the experimenters who used the engine was 11 and the number of the experimenters who did not use the engine was 39. In the case of using the engine, there were 0 collision accident, 1 grounding accident, and 10 no accidents. However, when the engine was not used, there were 28 collision accidents, 2 grounding accidents, and 9 no accidents. The causes of these results can be found in the survey results. 74 % of the non used engine participants said they were hesitate to use the engine. As can be seen from these results, the reserve officer are hesitant to use the engine and need a way to get correct of it. Maritime course subject can emphasize the importance of using ship's engines and case study also can be it. So, It is considered that various case study scenario will need to developed by various tools in the future.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.75-76
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• 2007

A mis-handling of the ship operators show high rate among the whole marine accidents. Since the port conditions have been getting worse. also as her size and speed increase, collision risk has been increased so that ship needs the automatic control system for collision. From that purpose, this research has been proceeded. The research has based on the MMG mathematical model, used Surge-Sway-Yaw motion equation, the information from the position and estimated time of collision point (DCPA and TCPA) to determine the collision risk with Fuzzy theory. To verify this system, ship was simulated when the ship encountered multitude of ships around the coast. The simulation result shows good application in avoiding ship collisions around the coast.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.56 no.2
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• pp.163-171
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• 2020

Engaged in trawling in limited fishing grounds with a number of fish schools could cause collisions between fishing vessels. Therefore, providing accurate maneuver information according to the situation could be regarded as essential for improving seafarers safety and fishing efficiency as well as safety of navigation. It is difficult to obtain all maneuver information through sea trial tests only, so a method through empirical formula is necessary. Since most empirical formulas are developed for merchant ship types, especially the characteristics of hull shape parameter like C_bB/L and dC_b/B etc. are clearly different between fishing vessels and merchant ships, this could occur estimation errors. Therefore, in this study, the authors have selected target fishing vessels and merchant ships and analyzed the characteristics of hull shape parameter according to the ship types. Based on this analysis, the empirical formula developed for the merchant ship type has applied to the target fishing vessels; it has verified through the turning motion simulation that the estimation error could be generated. In conclusion, it is necessary to include the characteristics of the hull shape parameter of fishing vessels in the empirical formula in order to apply the empirical formula has developed for merchant ship types to fishing vessel types.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.113-118
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• 2017

Various studies on the method of ship collision risk assessment for alarm have been reported constantly, and the result of the studies is applied to navigation devices. However, it is known that navigators ignore or turn off frequent alarms from the devices of predicting collision risk, because they may avoid collisions in the most of situations. In oder to make the prediction of ship collision risk more useful, it is necessary to consider the customary actions of ship collision avoidance. This paper proposes a system of analyzing collision avoidance measures of ships according to the types of encounter and managing the avoidance history of each ship. The core module of the system is designed as a neuro-fuzzy based inference system, and the test of the module validates the proposed system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2018.11a
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• pp.12-13
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• 2018

For navigation safety, navigators have to be familiar with maneuverabilities. When a vessel encounters a danger of collisions and stranding, maneuverability is essential for the safety of ship. It is composed of turning, course change, speed change, etc. In the latter part, maneuverabilities and motion of Training Ship HANBADA are provided by full-scale measurement in the $10^{\circ}/10^{\circ}$ Zig-Zag Test, $20^{\circ}/20^{\circ}$ Zig-Zag Test and Turning Circle Test(Port and Starboard). It aims to provide information on maneuverabilities and motion of Training Ship HANBADA so that the navigators can take proper action to avoid.

• Journal of the Korea Society for Simulation
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• v.25 no.4
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• pp.127-135
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• 2016

Even thought modernized marine navigation devices help navigators, marine accidents has been often occurred and ship collision is one of the main types of the accidents. Various studies on the assessment method of collision risk have been reported, and studies using fuzzy theory are remarkable for the reason that reflect linguistic and ambiguous criteria for real situations. In these studies, collision risks were assessed on the assumption that the current state of navigation ship would be maintained. However, navigators ignore or turn off frequent alarms caused by the devices predicting collision risk, because they think that they can avoid the collisions in the most of situations. This paper proposes a model of predicting ship collision risk considering the general patterns of collision avoidance, and the approach is based on fuzzy inference and discrete event system specification (DEVS) formalism.

• Journal of Navigation and Port Research
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• v.46 no.1
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• pp.18-25
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• 2022

MOF strengthen the law and institutions for safety management after the capsize accident of passenger ship "Sewol" on April 16, 2014. Nevertheless, about 13 cases of marine accidents such as collisions, contact, and stranding have occurred in coastal passenger ships over the past 5 years. Particularly, according to the judgment of KMST, most of the main causes of passenger ship accidents occurred within harbor areas because of the master's improper ship-handling or inattention. And so, this study analyzed four cases of marine accidents on passenger ships that occurred in the port areas and examined the environmental, institutional, material, and human factors that contributed to the master's improper ship-handling and behavior, and the results are as follows. First, as an environmental factor, the size of the turning basin was not enough. Second, as an institutional factor, the VTS control was not properly supported, the master lacked sufficient training for safe ship-handling in the port area and up-to-date charts were not provided. Third, as a material factor, the digital type speed log capable of the ship's speed in real-time was not installed on the ship's wing bridge. Lastly, as a human factor, the master could not take proper bridge resources and the passage plan was not proper. Therefore, it is suggested in this paper that the size of the turning basin should be adjusted to meet the prescribed standards, the master of passenger ships should receive the ship-handling simulation training among other safety training to ensure safe ship-handling of the master in the port area as improvement measures.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.11a
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• pp.73-80
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• 2004

Recently, many maritime accidents have been increased and the collisions due to human error are given a great deal of proportions out if them We develop the Real-time Collision Risk Monitoring System (CRMS) for the navigational officers to cope with the emergency situation promptly and thus to reduce the probability if casualty. In this study, the risk of collision is evaluated by two kinds if method. The first method is based on Fuzzy algorithm, which evaluates the risk of collision between traffic ships. The second method is based on Environmental Stress (ES) Model, where the total risk if collision is evaluated by the environmental stress felt by human. The developed real-time CRMS has been installed to the ship handling simulator system and its capabilities have been tested through simulator experiments.