• Journal of Navigation and Port Research
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• v.33 no.2
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• pp.99-104
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• 2009

The Kinematic GPS is well known to provide a quite good accuracy of positioning within an level. Although kinematic GPS assures high precision measurement on the basis of an appreciable distance between a reference station and an observational point, it has measurable distance restriction within 20 km from a reference station on land. Therefore, it is necessary to make out a simple and low-cost method to obtain accurate positioning information without distance restriction In this paper, the velocity integration method to get the precise velocity information of a ship is explained. The experimental results of Zig-zag maneuver and Williamson turn as the ship's maneuvering test, and other experimental results of ship's movement during leaving and entering the port with low speed were shown. From the experimental results, ship's course, speed and position are compared with those obtained by kinematic-GPS, velocity integration method and dead reckoning position using Gyro-compass and Doppler-log.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2003.05a
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• pp.132-138
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• 2003

In order to evaluate properly ship motion relating to the berthing maneuver, the hydrodynamic forces acting on ship hull in berthing maneuver need to be estimated rightly. CFD has been employed for time-domain simulation of transient flow induced by Wigley model moving laterally from rest in shallow water. The numerical solutions successfully captured not only the characteristics of the transitional hydrodynamic forces but also some interesting features of the flow field around a berthing ship according to the water depth. In this paper, the consideration is carried out on the approximate formula based on the CFD results, which can estimate hydrodynamic forces especially lateral drag coefficient starting from the rest to the uniform movement.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.10a
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• pp.49-55
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• 2006

Kinematic GPS provides quite good accuracy of position in cm level. Though K-GPS assures high precision measurement in cm level on the basis of an appreciable distance between a station and an observational point, but it has measurable distance restriction within 20 km from a reference station on land. So it is necessary to make out a simple and low-cost method to obtain accurate positioning information without distance restriction. In this paper, the velocity integration method to get the precise velocity information of ship is explained. Next two experimental results (Zig-zag maneuvering test and Williamson turn) as the ship's maneuvering test and also the experimental results of leaving and entering port as slow speed ship's movement were shown. In these experimental results, ship's course, speed and position are compared with those obtained by kinematic-GPS, velocity integration method and dead reckoning position using Gyro-compass and Doppler-log.

• Journal of Ocean Engineering and Technology
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• v.35 no.6
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• pp.403-413
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• 2021

As the size of ships increases, the size and output power of their thrusters also increase. When a large ship berths or unberths, the jet flow produced from its thruster has an adverse effect on the stability of quay walls. In this study, we conducted a numerical analysis to examine the impact of the thruster jet flow of a 30,000 TEU container ship, which is expected to be built in the near future, on the stability of a quay wall. In the numerical simulation, we used the fluid-structure interaction analysis technique of LS-DYNA, which is calculated by the overlapping capability using an arbitrary Lagrangian Eulerian formulation and Euler-Lagrange coupling algorithm with an explicit finite element method. As the ship approached the quay wall and the vertical position of the thruster approached the mound of the quay wall, the jet flow directly affected the foot-protection blocks and armor stones. The movement and separation of the foot-protection blocks and armor stones were confirmed in the area affected directly by the thruster jet flow of the container ship. Therefore, the thruster jet flows of ultra-large ships must be considered when planning and designing ports. In addition, the stability of existing port structures must be evaluated.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.6
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• pp.406-415
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• 2023

In this study, we focused on developing and verifying ship collision avoidance algorithms using Unity simulator and ROS(Robot Operating System). ROS is used to establish an environment where communication between different operating systems is possible, and a dynamic model of a ship is constructed within Unity simulator. The Lidar data collected in Unity environment is passed to the system based on python through ROS. In the system based on python, control command values were created through the logic of the collision avoidance algorithm using data, and the values were transferred back to Unity to control the movement of the virtual ship. Through the developed simulation system, the reliability of the collision avoidance algorithm of ships with two different forms in an environment similar to the actual physical world was confirmed. As a result, it was confirmed on the simulator that it could be avoided without collision even in an environment with various types of obstacles, and that the avoidance characteristics according to the dynamics of the ship could be analyzed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.168.3-168
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• 2001

The purpose of this paper is to find the relations between the virtual reality created by the ship´s bridge simulator (simulator) at Radar Navigation Experiment and Research Facility in Kobe University of Mercantile Marine (KUMM) and the observer´s response to it. In short, we analyze the observer´s heart rate variability (R-R interval) in navigational condition seasick impression by simulator occurred, and present the R-R Interval and the stress of observer with SNS and PNS calculated by STFT. In this experiment, rolling of the ship was simulated and presented to the observer. Rolling was simulated only visually not physically or mechanically while the balancing movement and heart beat of the observer were measured and processed to produce the measures for body response to the artificially created visual environment. The results show that even a ...

• Journal of Ship and Ocean Technology
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• v.6 no.2
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• pp.37-50
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• 2002

In the present numerical simulation of viscous free surface flow around a ship, two-fluids in-compressible Reynolds-averaged Navier-Stokes equations with the standard $\textsc{k}-\varepsilon$turbulence model are discretized on a regular grid by using a finite volume method. A local level-set method is introduced for capturing the free surface movement and the influence of the viscous layer and dynamic boundary condition of the free surface are implicitly considered. Partial differential equations in the level-set method are discretized with second order ENO scheme and explicit Euler scheme in the space and time integration, respectively. The computational results for the Series-60 model with $C_B=0.6$ show a good agreement with the experimental data, but more validation studies for commercial complicated hull forms are necessary.

• Journal of Navigation and Port Research
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• v.32 no.4
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• pp.271-277
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• 2008

When performing steering by an autopilot (automatic steering gear), a sensitivity adjustment is mainly determined by P value and D value. These values differ in the optimal combination by model of ship and external forces. This research was carried out simulation case studies and examined movement of Pure Car Carrier, which easily received ship by wind pressure influence in low speed We investigated the relation of horizontal migration(transfer) of ship's body and P-D value. Based on it, four parameters of P-D at approaching berth could be suggested Hence there were suggestions of parameters; Distance to maximum lee point, Time to maximum lee point, Time to return to original course and Time to 300th second. The correlation of these parameters and P-D value were also considered. As a result, we think that this index, like formulated P-D, leads to an easy and safe navigation by utilizing these indices.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.910-917
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• 2020

In fire suppression, continuous delivery of water or foam to the fire source is essential. The present study concerns fire suppression in a ship under sea condition, by introducing reinforcement learning technique to aiming of fire extinguishing nozzle, which works in a ship compartment with six degrees of freedom movement by irregular waves. The physical modeling of the water jet and compartment motion was provided using Unity 3D engine. In the reinforcement learning, the change of the nozzle angle during the scenario was set as the action, while the reward is proportional to the ratio of the water particle delivered to the fire source area. The optimal control of nozzle aiming for continuous delivery of water jet could be derived. Various algorithms of reinforcement learning were tested to select the optimal one, the proximal policy optimization.

• Proceedings of the SAREK Conference
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• 2003.07a
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• pp.239-239
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• 2003