항만 내 선박과 부두의 사고를 예방하기 위하여 통항 및 접안 안전성 평가를 통하여 안전한 부두가 건설되어 관리하고 있으나, 선 박의 접안 및 계류 과정에서 선박이 부두에 충돌하거나 로프로 인한 인명사고의 발생 등 예측할 수 없는 사고들이 종종 발생한다. 자동계류장 치는 선박의 신속하고 안전한 계류를 위한 자동화된 시스템으로 로봇 매니퓰레이터와 흡착 패드로 구성된 탈/부착 메커니즘을 가지고 있다. 본 논문은 자동계류장치의 흡착 패드의 위치 및 속도제어에 필요한 선체와의 변위 및 속도 측정 시스템을 다룬다. 자동계류장치에 적합한 측 정 시스템을 설계하기 위하여, 본 논문은 우선 센서의 성능 및 실외 환경적 특성 분석을 수행한다. 다음으로 이러한 분석 결과를 토대로 실외 부두환경에서 설치되는 자동계류장치에 적합한 변위 및 속도 측정시스템의 구성 및 설계 방법에 대해 기술한다. 또한 센서의 측정상태 감지 및 속도 추정을 위한 알고리즘을 제시한다. 제안된 방법은 다양한 속도 구간에서의 변위 및 속도 측정 실험을 통해 그 유용성을 검증한다.

Combat-armored vehicles were equipped with an automatic-fire-extinguishing system to ensure the safety of the crew and vehicle from fires on the vehicle. When a fire was occurred, the automatic-fire-extinguishing system automatically detects the fire through sensors and detection lines, sprays a fire extinguisher, and notifies the crew visually and audibly. Recently, there had been cases of automatic-fire-extinguishing systems malfunction on combat-armored vehicles. In this study, in order to resolve the automatic-fire-extinguisher's malfunction phenomenon, ground noise and inter-circuit noise generated from the fire detection line were identified, and the resistance connected on the circuit was revised to remove noise. As a result of resistance revision, the noises was eliminated and the electromotive force difference between input circuits was made constant, thereby improving the malfunction of the automatic-fire-extinguishing system. By applying the result, it was confirmed that the control device sensed a temperature similar to the actual temperature on actual vehicles, and it was confirmed that the automatic-fire-extinguishing system's malfunction phenomenon was not founded in the field vehicles after then.

At present, the assessment for the crew training using the ship handling simulator is completed by the assessor, which is subjective and difficult to unify the assessment criteria. Under this assessment mode, the assessor will have a great work intensity. So it is necessary to design and develop the automatic assessment system for the ship handling simulator. This paper introduces the automatic assessment system developed by Dalian Maritime University (shorted for DMU), which includes the assessment method, system architecture and implementation. A selected example of applications is described.

In wastewater treatment, an emulsion polymer automatic dissolving system is used to mix and dissolve the polymer used as a polymer coagulant with water before it is put into the dissolution tank. In this study, a disperser is developed to mix water and emulsion polymer better in the dissolving system. For this purpose, the flow analysis of the three disperser models was performed to select the disperser for the emulsion polymer automatic dissolving system with the best performance. The excellence of mixing was evaluated by grasping the flow uniformity and the vorticit in the disperser, and it was confirmed that the TYPE3 disperser was excellent.

In this study, the second-order Nomoto’s nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto’s nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

본 논문은 자동계류 장치에 설치하여 선박의 접안 상황을 검출할 수 있는 시각 센서의 개발에 대하여 논하고 있다. 선박의 접 안 시 사고방지를 위해 선박의 속도를 통제하고 위치를 확인하고 있음에도 불구하고 부두에서의 선박 충돌사고는 매년 발생하고 있으며, 이로 인한 경제적, 환경적 피해가 매우 크다. 따라서 부두에 접안하는 선박에 대한 안전성 확보를 위해 선박의 위치 및 속도 정보를 신속 하게 확보할 수 있는 시각 시스템의 개발은 중요하다. 이에 본 연구에서는 선박의 접안 시 사람과 유사하게 영상을 통해 접안하는 선박을 관찰하고, 주변 환경에 따른 선박의 접안 상태를 적절하게 확인할 수 있는 시각센서를 개발하였다. 먼저, 개발하고자 하는 시각 센서의 적 정성을 확보하기 위해 기존 센서로부터 제공되는 정보, 감지 범위, 실시간성, 정확도 및 정밀도 측면에서 센서 특성을 분석하였다. 이러한 분석 자료를 바탕으로 LiDAR형태의 3D시각 시스템의 개념 설계, 구동메커니즘 설계 및 모션 구동부의 힘과 위치 제어기 설계 등을 수행 하여 대상물의 정보를 실시간으로 획득할 수 있는 3D 시각 모듈을 개발하였다. 최종적으로 시스템 구동을 위한 제어 시스템의 성능평가 와 스캔 속도에 대한 성능을 분석하였고, 실험을 통해 개발된 시스템의 유용성을 확인할 수 있었다.

For countering nuclear proliferation, satellite imagery is being used to monitor suspicious nuclear activities in inaccessible countries or regions. Monitoring such activities involves detecting changes over time in nuclear facilities and their surroundings, and interpreting them based on prior knowledge in terms of nuclear proliferation or weaponisation. Therefore, analysts need to acquire and analyze satellite images periodically and have an understanding of nuclear fuel cycle as well as expertise in remote sensing. Meanwhile, as accessibility of satellite information has been increasing and accordingly a large amount of high-resolution satellite images is available, a lack of experts with expertise in both fields to perform satellite imagery analysis is being concerned. In this regard, the Institute of Korea Nonproliferation and Control (KINAC) has developed a prototype of semi-automatic satellite imagery analysis system that can support monitoring of potential nuclear activities to overcome the limitations of professionals and increase analysis efficiency. The system provides a satellite imagery database that can manage acquired images, and the users can load images from the database and analyze them in stages. The system includes a preprocessing module capable of resizing, correcting and matching images, a change detection module equipped with a pixel-object-based change detection algorithm for multi-temporal images, and a module that automatically generates reports with relevant information. In particular, this system continuously updates open-source information database related to potential nuclear activities and provides users with an integrated analytics platform that can support their interpretation by linking related images and textual information together. As such, the system could save time and cost in processing and interpreting satellite images by providing semi-automated analytic workflows for monitoring potential nuclear activities.

본 논문에서는 유지보수를 위한 구조물 인상 시 위험도 분석을 수행하여 안전사고를 방지할 수 있는 스마트 자동 인상 시스템을 개 발하였다. 쌍대비교행렬 분석 기법을 활용하여 위험도를 분석할 수 있는 정량적 위험도 분석 프로그램을 개발하였고, 이를 자동 인상 시스템과 연계하여 구조물 인상과 동시에 실시간으로 위험도 분석을 하였다. 자동 인상 시스템의 구성요소 중 거리측정센서로 구조 물 인상 시의 변위를 측정하고, 측정된 변위는 정량적 위험도 분석 프로그램에 입력되어 위험도를 분석한다. 개발한 스마트 자동 인상 시스템의 성능을 확인하기 위해 실제 교량을 대상으로 실험을 수행하였으며, 구조물 인상과 동시에 위험도 분석이 가능한지를 확인 하였다. 스마트 자동 인상 시스템의 성능을 평가하기 위해 인상실험 시 검증된 LVDT(linear variable differential transformer)를 함께 설치하였으며 거리측정센서와 LVDT로 측정되는 변위로 최대 인상량과 구역별 단차를 분석하였다. 인상장치의 동시 작동에 대한 성 능을 통계적 분석방법인 분산분석(analysis of variance) 방법을 이용하여 성능을 검증하였다.

In this research, we have developed the non-contact automatic washer system for two-wheel motor vehicle through structural and fluid analysis. The structural analysis of mainframe was performed for the safety of the bike washer system, and multi-phase fluid analysis was applied for the washer cleaning performance which was analyzed the surface shear stress while varying the nozzle angle. As a result, we have developed the washer system by deriving the spray angle for the shear stress area and by analyzing the housing shape that takes into consideration structural stability. The performance of this washer system was verified by measuring the gloss before and after cleaning in the evaluation of the cleaning performance test of the system.