In this study, a motion control problem for the vessel towed by towing ship on the sea is considered. The towed vessel does not have self-control capabilities such that its course stability totally depends on the towing ship. Especially, in the narrow canal, river and congested harbor area, extreme tension is required during the towing operation. The authors, therefore, propose a new control system design method in which the rudder is activated to provide its maneuverability. Based on the leader following system configuration, a nonlinear mathematical model is derived and a backstepping control is designed. By experiment results with nonlinear control framework, the usefulness and effectiveness of the proposed strategy are presented.

In this study, system modeling and dynamic analysis of crane are conducted. Especially, among many different kinds of a crane system, the issues on crane operating problems installed on the vessel are considered. As well known, marine systems including cranes are exposed to various disturbances such as vessel motions, hydrodynamic forces, wave and wind attack, etc. In order to analysis the system dynamic with environmental conditions, the authors derived the nonlinear dynamic model of offshore crane and derived a linear model which is used for designing the control system. Using the obtained nonlinear and linear models, simulations were conducted to evaluate the usefulness of the obtained models. By simulation and result evaluation, the usefulness of the linear model, which presents the dynamics, is effectively verified.

In this study, the authors introduce a newly developed flatfish grading system. Owing to the features of flatfish with and wide body, the general types of grading system are not easy to apply for it. Furthermore, the flatfish to be graded is alive such that the existing measurement and grading systems cannot be used for it as well. This study gives a solution for measuring and grading the flatfish with high speed and good accuracy. For this object, the authors developed flatfish measurement and grading system. This system consist of the feeding, conveying, measurement part and sorting part. Especially, the measurement part is made by vision based measuring technique which satisfies the given specification. The result from the experiment shows that the developed system is applicable for measuring and grading the flatfish sizes in variety.

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to testing ships. Recently, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement and started to test autonomous ships in the defined area. Considering recent technology trends and background, in this paper, the authors also try to develop autonomous ship control technologies. In the designed control system, an observer is introduced to estimate unmeasurable system states. Based on the servosystem with state estimator, ship motion control experiment is performed to evaluate control performance using a model ship in water basin.

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessel looks like the barge ship, which is used for many purposes. In these vessels, basically, the power propulsion system is not installed but just towed by a towing vessel such as tugboats with ropes and wires. It means that the motions of towed vessel are basically dependent on the tracking route of towing boat. Therefore, in some cases, undesirable and unpredictable motions may be made by environmental factors such as wave, wind attack and so on. As a result, a collision accident with others may occur during maneuvering situation. Based on these facts, the authors try to encourage the steering performance of the towed vessel by using controllable rudders without any propulsion system. In this study, especially, a controllable vessel with three rudders is considered, and a mathematical model is induced for the future study. The model is described as surge, sway motion and inertia moment by following the general representation method for the surface ship.

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to ships. For example, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement that allows to test of autonomous ships in the defined area (port to port). Many countries and industries are pursuing to realize the autonomous vessel in the real world. In this paper, the authors try to develop related technology. As basic research, a ship model of the pilot vessel is developed and physical parameters are identified by experiment and simulations. Using the mathematical ship model, a control system is designed and control performance is evaluated by simulations.

In this study, a winch and load motion control system design method is introduced. Especially, the winch and load (moving cart) are connected with long wire rope which is extended to few kilometers long. Therefore, the rope length changes such that many dynamic parameter values are changed as well by winding and releasing the rope from the winch system. In this paper, the authors designed the control system by considering the real time parameter variation to occupy and keep good control performance continuously. The effectiveness of introduced method was evaluated by simulation results.

본 연구는 퇴비에 함유된 영양소 및 중금속 함량을 파악하고 상추 재배시 퇴비의 적정 시용 비율을 알아보고자 수행되었다. 실험을 위해 두가지 퇴비를 이용하였다. 첫 번째 퇴비는 미완숙 퇴비(CA)이며 두 번째 퇴비는 시중에서 판매되고 있는 완숙 퇴비(CB)이다. 각각의 퇴비는 인공토양을 0%, 25%, 50%, 75%로 혼합하여 사용하였다. 50%와 75%의 비율로 혼합한 CA의 pH는 각각 5.39, 5.50으로 측정되었으며 약 산성으로 나타났다. CA 및 CB를 75% 비율로 혼합할 경우, 총 탄소 함량은 각각 14.5%와 6.5%로 다른 비율의 퇴비에 비해 높았고 대조구에 비해 총 질소와 인 농도가 유의하게 증가하였다. 총 탄소함량은 CA퇴비를 인공토양에 75% 혼합한 실험구에서 가장 높게 나타났다. CA는 CB와 비교하여 퇴비화율, 질소, 인의 농도가 크게 증가하였다. CB 75% 혼합한 실험구에서 구리(128 mg kg-1), 아연(260 mg kg-1), 납(0.32 mg kg-1), 카드뮴(0.48 mg kg-1) 의 함량은 다른 혼합구에 비해 가장 많은 증가하였다. 특히 비소는 CA퇴비를 25% 혼합한 실험구와 CB퇴비를 75%, 50% 혼합한 실험구에서 가장 높았다(6.69 and 6.28 mg kg-1). CA실험구 중에서 상대적으로 낮은 염분 및 중금속 함량을 함유한 CA 25% 혼합한 실험구는 상추의 성장속도 및 엽면적 등이 CB에 비해 낮게 측정되어 최적의 성장조건은 아닌 것으로 사료된다. 따라서, CA를 사용하여 상추재배에 이용할 경우, 더 낮은 농도의 CA를 이용하는 것이 적당할 것으로 판단된다.

We evaluated the antioxidant properties of adzuki beans and the quality characteristics of sediment using various cultivation methods. There were significant differences in total polyphenol and flavonoid contents in beans grown using different methods of cultivation (p<0.05). Also, DPPH and ABTS radical-scavenging activities were significantly different depending on cultivation method (p<0.05). The sediment yield before drying of Chungju-pat, Hongeon, and Arari was 296.64~339.01, 271.36~282.24, and 268.21~292.32%, respectively, and the sediment yield after drying was 71.68~85.41, 77.90~85.19, and 74.15~78.65%, respectively. The L-value of Chungju-pat and Arari sediments revealed a significant difference given different cultivation methods (p<0.05), but Hongeon sediment did not show a significant difference. There was a significant difference in the a- and b-value of adzuki bean sediments cultivated using different methods (p<0.05). The particle size of Chungju-pat, Hongeon, and Arari sediments was 66.21~98.80, 61.62~97.07, and 82.96~106.71 μm, respectively, and all were significantly different depending on cultivation method (p<0.05). There were also significant differences in the water absorption index, water solubility index, and swelling power when different cultivation methods were used (p<0.05).

미즈나의 주요성분인 건물중, 전탄소, 전질소, Fe 및 Ca 함유량을 초분광 영상을 이용하여 추정하였다. 샘플은 인공재배기에서 실내온도 20℃, 일조시간 13 h의 조건에서 6 주간 재배한 샘플과 온실에서 동일기간 재배된 샘플을 이용하였다. 재배조건, 영상취득시의 광 환경에 따라 인공재배기, 하우스, 전처리의 유무 및 모든 데이터를 이용한 그룹으로 나누어 각각 모델을 작성하였다. 실내 재배에서는 건물 중, 전탄소, 전질소의 경우 전처리에 따라 평균상대오차(MRE)가 5% 이상 향상되었으나 하우스의 경우 전처리의 효과가 없었다. Ca 이온의 경우 조건에 관계없이 모델을 구축할 수 있었으나 Fe 이온의 경우 하우스 재배에서는 모델을 구축할 수 없었다. 모든 데이터를 이용해 미즈나의 건물중, 전질소, 전탄소, Fe 및 Ca 함유량을 추정할 경우 반사율을 이용해 62% 이상 설명이 가능하였고 검증결과도 57% 이상으로 나타났다. 전처리를 거칠 경우 반사율을 이용해 71% 이상 설명이 가능하였고 검증결과도 62% 이상으로 나타났다. 전처리를 했을 경우 각각 추정오차는 건물중이 0.54 g/m2, 전질소가 39.8 mg/m2, 전탄소가 185 mg/m2, Fe 이온이 0.35 mg/m2, Ca 이온이 14.1 mg/m2였다.