• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.159-167
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• 2000

During the operation of crane system in the container yard, it is necessary to control the crane trolley position so that the swing of the hanging container is minimized. Recently an automatic control system with high speed and rapid transportation is required. Therefore, we designed a controller to control the crane system with disturbances and weight change. In this paper, we present the neural network two degree of freedom PID controller to control the swing motion and trolley position. Then we executed the computer simulation to verify the performance of the proposed controller and compared the performance of the neural network PID controller with our proposed controller in terms of the rope swing and the precision of position control. Computer simulation results show that the proposed controller has better performances than neural network PID with disturbances.

• Journal of Fisheries and Marine Sciences Education
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• v.3 no.1
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• pp.35-43
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• 1991

The fishing vessels operation is a kind of maritime profit-making activities, which are complicatedly integrated by the basic and supplemental fishing activities with navigation. The Fishing Vessels Act of Korea defines the character of fishing vessels and gives a legal status to them, and this Act itself is linked with the allied public laws including the Ships Act of Korea. For this reason, the legal status of fishing vessels as Korean flagged ships by the public law is analogous to the general commercial vessels. And the specific character of ownership of the fishing vessels by the Korean Maritime-Commercial Act as a privated law is analogous to the general commercial vessels, nevertheless the Chapter 4(Carriage of goods) and the Chapter 5(General average) of this Act do not apply to the fishing vessels except the fish carriers. A fishing vessel possesses the legal status as a Korean flagged ship by having it registered and putting it on record under the provision of national law, however the principle of genuine link is an important factor for acquisition of nationality. Especially, the basic rules by the Law of the Sea those are attended with the distant-water fishing vessels operation at the overseas fishing ground are summarized as follows ; Firstly, the rights of navigation and fishing activities on the high seas are fundamentally recognized to all states, but the freedom is restricted according to the international legal order aiming at protection of reasonable interests of other states and conservation of the living resources and marine environment. Secondly, in the EEZ or EFZ the freedom of navigation is recognized, but fishing activities are exclusively ruled by the national law of the coastal state. Thirdly, foreign fishing activities are prohibited but the right of innocent passage is recognized in the territorial sea, while both activities are prohibited in the internal waters of the coastal state.

• Strategy21
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• s.42
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• pp.154-195
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• 2017

This paper is to analyse conflict between the US and China over the South China Sea and Korea's responses. To this end the paper is composed of 6 chapters titled instruction; the current status of South China Sea sovereignty disputes; changes in US and Chinese maritime security strategies and the strategic values of the South China Sea; key issues and future prospects for US-China conflicts in the South China Sea; South Korea's security and diplomatic responses; and conclusion. The recent East Asian maritime security issue has evolved into a global issue of supremacy between the US and China, beyond conflicts over territorial disputes and demarcation among the countries in the region. China is pursuing offensive ocean policy to expand economic growth. The core of the maritime order that the United States intends to pursue is the freedom of navigation in the oceans and the maintenance of maritime access. China is making artificial islands in the South China Sea, claiming the sovereignty of these islands, building strategic bases in East Asia, and securing routes. The United States has developed several "Freedom of Navigation Operations" to neutralize the declaration of the territorial sea surrounding Chinese artificial islands. We can not be free from marine conflicts in the South China Sea and the East China Sea. Regarding the South China Sea dispute, it is expected that the strategic competition and conflict between the two countries will intensify due to China's failure to make concessions of core interests and adherence to the US compliance with international norms. In the midst of conflict over the South China Sea, we need a harmonious balance between our alliance security and economic diplomacy. We must continue our efforts to strengthen the ROK-US alliance but not to make China an enemy. Considering the significant impacts of the oceans on the survival and prosperity of the nation, we must continue to develop our interest in the oceans, appropriate investments and tactical strategies.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.06a
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• pp.71-73
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• 2011

다기능 선박조종시뮬레이터(Full-mission Shiphandling Simulator)는 항해사, 선장 및 도선사의 자질 향상을 위한 교육뿐만 아니라 항만개발을 위한 사전 검토와 해난사고 발생 시, 원인규명을 위한 분석에도 이용되고 있다. 한국해양수산연수원에서는 이러한 목적을 위하여 2011년 2월 28일 Russia Transas 제품의 선박조종시뮬레이터를 설치 완료 하였다. 이 FMSS는 적어도 360도의 수평시각을 가진 대형 구형화면에 여섯(6) 자유도 운동을 하는 본선 및 타선을 실시간으로 표현하는 photo-realistic high resolution computer graphic visual system과 같은 최신기술을 사용하는 가장 현대화된 최고급 해상용 시뮬레이터로 해난 사고 윈인규명을 위한 분석 연구 목적을 위하여 광범위한 출처로부터 모델시험과 자료의 신뢰할만한 공식적 기록들에 근거한 매우 정확한 수력학적 선박 모델링 소프트웨어로 이루어졌다. 여기서는 이 FMSS의 형태와 복잡성을 상세하게 소개한다.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.198-203
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• 2004

This paper describes a real-time control architecture for DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), which has been developed at Korea Research Institute of Ships & Ocean Engineering (KRISO), KORDI, for being a test-bed oj development of technologies for underwater navigation and manipulator operation. DUSAUV has three built-in computers, seven thrusters for 6 degree of freedom motion control, one 4-function electric manipulator, one pan/tilt unit for camera, one ballasting motor, built-in power source, and various sensors such as IMU, DVL, sonar, and so on. A supervisor control system for GUI and manipulator operation is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers of vehicle for real-time control purpose, while MicroSoft OS product is ported on the supervisor system for GUI programming convenience. A hierarchical control architecture which consist of three layers (application layer, real-time layer, and physical layer) has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in a basin of KRISO is also provided.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.529-536
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• 2017

The general ground control system has control and information display functions for the operation of a single unmanned aerial vehicle. Recently, the function of the single ground control system extends to the operation of multiple UAVs. As a result, operators have been exposed to more diverse tasks and are subject to task overload due to various factors during their mission. This study proposes an adaptive ground control system that reflects the operator's condition through the task overload measurement of multiple UAV operators. For this, the ground control software is developed to control multiple UAVs at the same time, and the simulator with six degree-of-freedom aircraft dynamics is constructed for realistic human-machine-interface experiments by the operators.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.3
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• pp.226-233
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• 2015

Pose estimation is an important operation for many vision tasks. This paper presents a method of estimating the camera pose, using a known landmark for the purpose of autonomous vertical takeoff and landing(VTOL) unmanned aerial vehicle(UAV) landing. The proposed method uses a distinctive methodology to solve the pose estimation problem. We propose to combine extrinsic parameters from known and unknown 3-D(three-dimensional) feature points, and inertial estimation of camera 6-DOF(Degree Of Freedom) into one linear inhomogeneous equation. This allows us to use singular value decomposition(SVD) to neatly solve the given optimization problem. We present experimental results that demonstrate the ability of the proposed method to estimate camera 6DOF with the ease of implementation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.113-119
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• 2002

Recently, an automatic crane control system is required with high speed and rapid transportation. During the operation of crane system in container yard it is necessary to control the crane trolley position and loop length so that the swing of the hanging container is minimized We can do development of unmanned automation control system using automation travel control technique and anti-sway technique in crane system. Therefore, we designed a controller for Automation travel control to control the transfer crane system. Analyzed crane system through simulation, and proved excellency of control performance than other conventional controllers.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.7
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• pp.1417-1426
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• 2011

Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

• Journal of Advanced Navigation Technology
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• v.19 no.4
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• pp.311-317
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• 2015

This paper is a study on how to develop service robots can easily complex software development services robot control system. User created contents based on the robot control system developed in this study is a robot drive control circuit, a sensor data processing, the status, the monitoring systems and modular system to configure the service robot operation screen from a user perspective and that can control the service robot operation As in the text-based features that can be operated to have freedom to the robot control service content. In addition, the user has the advantage that changes position by the development as well as user created contents desired by the user operating the robot control GUI (graphic user interface) also changes are possible. As a result, the service robot operator to offer a way to make the service robot can be conveniently presented in a user's point of view how to enable the development of the service robot.