선박충돌회피지원을 위한 자동제어-II

임남균,Im, Nam-Kyun 한국항해항만학회 2004 한국항해항만학회지 Vol.28 No.1

본 연구는 선박충돌회피 알고리즘에 대하여 검토하고, 이를 개선하려는 의도로 수행되었다. 선박충돌회피 알고리즘에 대한 연구는 지금까지 많이 수행되었는데, 이런 연구에서 채용하고 있는 핵심 이론을 내용에 따라 구분하면 위험도계산법과 위험지역 설정법으로 각각 나뉠 수 있다. 그 두 가지 이론은 각각의 장점과 단점을 가지고 있으며, 또한 그 한계성을 포함하고 있다. 이번 연구는 두 가지 이론의 한계점을 극복하기 위한 방안을 제시한다. 제시된 모델은 위험도 계산법을 기초로 하고 있으며, 위험도계산법에서 가장 문제시 되어온 임계값 설정 문제를 해결하기 위하여, 사용자가 항해 환경 등에 따라 적절히 그 설정값을 선택할 수 있는 기능을 제시하고 있다. 또한 두 가지 이론의 상호 관계를 규명하기 위해서 위험도 계산법의 시뮬레이션을 인용하여, 본선 주위에 위험구역을 도식해 봄으로써, 위험지역설정과 그 차이를 비교하여, 양자간의 이해를 돕는 수단으로 활용하였다. 마지막으로 위험도 계산법의 경우, 특히 TCPA, DCPA를 사용하여 위험도계산을 할 경우, 두 선박이 선미에서 너무 접근하는 문제점이 발생하는데, 이런 문제의 해결책의 하나로, 위험지역 설정법을 부분적으로 적용한 새로운 모델을 제시하고 그 효용성을 검증하였다.

Control system for ship collision avoidance considering the effect of wind and ship's manoeuvrability

임남균,이승건,황성준 한국항해항만학회 2010 한국항해항만학회지 Vol.34 No.2

The studies on automatic ship collision avoidance system, which have been carried out in the last 10 years, are facing on new situation due to newly developed high technology such as computer and other information system. It was almost impossible to make it used in real navigation field 3-4 years ago because of the absence of any tool to give other ship's information, however recently developed technology suggests new possibility. This study is carried out to develop the automatic ship collision avoidance support system which considers ship's manoeuvrability into it's collision avoidance algorithm. One of the important part in ship collision avoidance system is collision decision module which can calculate collision risk with other ships and act properly to avoid the situation. Many of previous researches are using present ship's dynamic data such as present speed, position and course to calculate collision risk. However when a ship commences avoidance action, the real situation is quite different with one that has been estimated by the ship's initial data due to the ship's manoeuvring characteristic. Therefore it is better to take into account ship's manoeuvring characteristic from the stage of collision decision in ship collision avoidance system. In this study, these effects are included in the developed system. The proposed system are verified its usefulness in numerical simulation environments.

ARPA Radar Simulator 개발을 위한 기초 연구

임남균,김환수 해양환경안전학회 1998 해양환경안전학회지 Vol.4 No.1

Through the rapid development in personal computer technology, it has recently become possible to make a radar become possible to make a radar simulator based on the PC. Althougth such a technology has already been developed in the advanced countries like Japan, U.K., and U.S.A., our country has not been able to make such a simulator so far. In addition, revised STCW convention requires the maritime training institution to be equipped with the ARPA simulator satisfying the performance standard specified in the convention. In this thesis therefore, an attempt was made to developed the software of the ARPA radar simulation system using Visual Basic 4.0, with which we can finally make a Mockup style ARPA simulator satisfying the performance standard specified in the convention. In this thesis therefore, and attempt was made to developed the software of the ARPA radar simulation system using Visual Basic 4.0, with which we can finally make a Mockup style ARPA radar simulator. The system developed through the research has been found to run successfully on the desk top personal computer(586PC). A Mockup style ARPA radar simulator will be able to be made by simply installing this software on the PC which will be placed inside a ARPA radar Mockup, and this is one of the future research subjects.

A quantitative methodology for evaluating the ship stability using the index for marine ship intact stability assessment model

임남균,최훈 대한조선학회 2021 International Journal of Naval Architecture and Oc Vol.13 No.1

IMO stability regulations include various stability parameters such as GM values. To assess the stability of the ships, we should check all stability parameters of the IMO requirements. However, since this process is complex, a more convenient way to evaluate stability performance is required. In this research, the index for marine ship intact stability assessment (IMSISA) model was developed to solve these problems. The IMSISA model consists of a stability index calculation module and a stability assessment module. In the stability index calculation module, ten stability parameters, including GM, were used to develop the stability index, which has the advantage of being able to quantify the ship stability. The stability assessment module uses the stability index value to determine the stability status of the ship and provides the captain with stability management guidelines. To verify the proposed model, the basic stability calculations were performed for two model ships in 32 loading situations. The proposed model was found to provide better performance in the stability assessment than the previous study. By applying the IMSISA model to the ships, the captain can assess the ship stability more quantitatively and efficiently.

선박 운항자 지원 시스템용 선박 복원성능 지수 개발

임남균,황수진,최훈 해양환경안전학회 2018 해양환경안전학회지 Vol.24 No.1

All ships should ensure stability in accordance with IMO regulations. However, GM is only used to determine ship stability because it takes a lot of time to validate all regulations. This is a problem given that the safety of vessels cannot be guaranteed, potentially leading to accidents. There is a need for a more intuitive and comprehensive method of confirming the stability of ships. This study developed a stability index that expresses ship stability in one value. An index equation is defined based on the 6 stability criteria for ships prescribed by IMO and the result of calculating the ship stability of a model ship. A stability index has been derived for each loading condition by applying the index equation to the same ship. It can clearly be seen that this stability index appropriately explains the criteria. In other words, it is possible to assess ship stability with one value and confirm whether the ship stability satisfies IMO regulations. This index will help masters and officers more easily and accurately check ship stability. 선박의 안전 확보를 위해 준수해야 하는 IMO 복원성 규칙에는 복원정 곡선(GZ Curve) 등에 관한 내용이 다양하게 규정되어 있다. 이 IMO 복원성 규정에는 다양한 항목의 만족 기준이 제시되고 있으나, 선박을 운항하는 선장에게 선박의 복원성능을 종합적이며, 간편하게 제공할 수 있는 방법은 부재한 상황이다. 이를 위해 본 연구에서는 복원성을 하나의 값으로 표현할 수 있는 지수를 개발하였다. IMO에서 규정한 선박의 6가지 복원성 항목과 대상선박의 적재상황에 따른 복원성 계산결과를 바탕으로 지수산정식이 도출되었다. 또한 개발된 지수산정식을 적용하여 다양한 화물 적재 상황별 복원성 지수(Stability Index)를 계산하였으며, 복원성능의 전반적인 정도를 수치적으로 적절하게 설명할 수 있음을 검증하였다. 이는 선박의 선장에게 복원성 평가하고 판단하는데 도움을 줄 것으로 판단된다.

A Study on Ship's Maneuverability Evaluation by Real Ship Test

임남균,한송희,구엔탈날라이,Im, Nam-Kyun,Han, Song-Hee,Nguyen, Thanh Nhat Lai The Korean Society of Marine Environment and safet 2011 해양환경안전학회지 Vol.17 No.4

At the design stage, it is very important to know the ship maneuvering characteristics from the view point of ship performance and for the safety of navigation. IMO only gives some criteria for ships in full load even keel condition. However, the ship generally is operated not only in full load condition but also in half load condition or ballast condition. Therefore we must estimate the ship maneuvering in different loading condition to ensure that the ship will satisfy with IMO rules and navigate safely in every condition. In this paper, we have investigated the maneuvering characteristics of a ship by simulation and experiments with real ship. By comparing with the results of simulation, the real ship tests conform with simulation test and previous researches. Therefore, the method base on real data is well done to estimate the ship maneuvering in different loading conditions. The change of ship's manoeuverability accoriding to ship's operation conditions was estimated.

선박충돌회피지원을 위한 자동제어-Ⅲ

임남균 한국항해항만학회 2004 한국항해항만학회지 Vol.28 No.6

본 연구에서는, 충돌회피지원을 위한 자동제어에 관하여 새롭게 얻은 몇 가지 성과에 대하여 소개하려고 한다. 그 내용의 첫 번째는 그 동안의 기존 연구에서 해결되지 못하였던 집단 선박의 충돌 회피 이론이다. 이 이론은 선박이 무리를 지어 있는 어선 군을 만났거나, 혹은 무리를 지어 접근하는 선박군에 대한 충돌회피 동작에 유용한 알고리즘이다. 피항동작을 계산하는 단계에서 새로운 알고리즘을 적용한 모델을 적용하여 그 유용성를 설명하였다. 두 번째로는 충돌위험도 계산의 통합화 모델 제시이다. 선박의 경우 유지선, 피항선, 추월선, 피추월선 등 상대 선박과의 다양한 조우 상황에 따라, 항해사가 느끼는 위험도 그리고 피항 의무 등에 조금씩 차이가 있다. 이러한 현상을 반영하기 위하여, 충돌회피 동작에 사용하는 위험도 계산을 수행할 때, 조우상황에 따라 적절히 차별을 주는 모델을 제시하였다. 마지막으로는 이렇게 제시된 모델을 이용하여 다양한 상황에 따라 시뮬레이션을 통하여 검증해 보고, 그 유효성을 살펴보았다. Author presented some study with regard to "automatic control for ship collision avoidance system" before. Those papers are to deal with unsolved problems in the previous study. In this paper, two issues relating to ship collision avoidance were investigated. One is to suggest a new algorithm of avoidance of a group ship. This algorithm is useful when a ship takes avoiding action for a group fish boats and a group of merchant vessels. In the stage of taking avoidance action, newly-developed algorithm was used. The other is to develop a unified model of collision risk. Generally collision risk changes according to various type of encounters. The new model is to take into account of these situations. The above-mentioned algorithm and model were verified through simulation under various encounters between ships.

파랑중 저수심에서의 초대형 컨테이너선에 작용하는 유체력

임남균,이상민 해양환경안전학회 2017 해양환경안전학회 학술발표대회 논문집 Vol.2017 No.04

Experiment on Track-keeping Performance using Free Running Model Ship

임남균,트란반룽,Im, Nam-Kyun,Tran, Van-Luong The Korean Society of Marine Environment and safet 2012 해양환경안전학회지 Vol.18 No.3

This research presents an analysis of algorithm for ship track-keeping along a given trajectory. The maneuver of a free running model ship guiding through a simple path are presented. In order to solve the above problem, a desired trajectory is usually determined by GPS points in a pre-fixed place then these points are set in a pre-programmed navigation so that the ship would be automatically tracked. Proportional-Derivative(PD) control which is useful for fast response controllers was used in this program as a course keeping system. A high accuracy GPS receiver was installed on the model ship that could provide positions frequently, the system will compare and give out the remaining distance and heading to the target way-point. The results of ship auto track-keeping experiment will be explained in order to illustrate the adjustment in controlling parameters. These results can be utilized as a preliminary step to carry out the experiment of ship collision avoidance system and automatic berthing in the future.

완도항 인근수역 항로 및 정박지 개선 연구

임남균,정재용,최명식,Im, Nam-Kyun,Jong, Jae-Yong,Choi, Myung-Sik 해양환경안전학회 2007 해양환경안전학회지 Vol.13 No.4

현재 완도항은 서남해안 물류거점의 항만으로 발돋움하기 위한 여러 가지 노력을 하고 있다. 이의 일환으로 항만 시스템 개선 사업을 수년전부터 활발하게 계획하고 있으며, 그중에 항만 내 선박 통항 시스템개선의 필요성이 제기되어 왔다. 이 연구에서는 현재 완도항만 및 그 인근 해역의 전반적인 해상교통 시스템을 살펴보고, 보다 효율적인 해상교통 시스템의 확보를 위한 기존의 시스템에 대한 개선점을 제안하고자 한다. 이를 위하여, 항만내 항로, 항만 내외의 묘박지에 대한 효율성을 검토하여 새롭게 제안하였다.