Recently, universities of fisheries and institutions related to fisheries are actively carrying out a project to build new fisheries training ships. These new fisheries training ships are significantly larger in size and longer in length than the previous ships. In addition, these new ships basically have space that can accommodate more than 100 crew and passenger. On the other hand, they are excluded from IMO maneuverability evaluation since the size of these ships are still less than 100 m in length (LBP). These results have had an impact on the study of maneuverability of fishing vessels including the fisheries training ships. Against these backgrounds, the authors conducted a study to estimate the maneuvering characteristics of fisheries training ship Baek-Kyung according to depth in order to prepare a maneuvering characteristic index that enables the large fisheries training ships to navigate more safely using a modified empirical formula. It was confirmed that the maneuvering characteristics of Baek-Kyung changed significantly as the values of the hydrodynamic force coefficients changed as the water depth gradually decreased from around 1.5 (approx. 8 m in depth) of the ratio of the water depth to the ship draft. The results of this study will not only help navigators understand the maneuvering characteristics of Baek-Kyung, but also serve as an indicator when navigating in shallow water. In addition, the accumulation of these results will serve as a basis for future study on maneuverability of fishing vessel types.

본 기술보고에서는 선박운항 시뮬레이터를 위한 해양파 가시화의 개선을 목적으로 여러 해양파 가시화 요소 및 그에 대한 전체적인 재현 방안에 대해 고찰하였다. 이를 위해 우선 해양파 가시화 요소를 해양파 표면, 해양파 부서짐, 상호작용, 광원, 수중 등으로 구분하고, 각 구성 요소별 가시화가 필요한 세부 가시화 요소들을 정리 하였다. 또한 이를 재현하는 과정에서 설계에 반영해야 할 내용들을 사실적 해양파 가시화 및 실시간 해양파 가시화, 선박 운동특성 재현, 시뮬레이터의 활용 관점에서 분석하였다. 분석을 통해, 사실적 해양파 가시화가 몰입감 형성 및 보다 정확한 선박 운동특성 재현, 다양하고 제어 가능한 시뮬레이션 시나리오 생성 등에 중요한 역할을 수행함을 확인하였다. 또한 선박운항 시뮬레이터를 위한 해양파 가시화는 고려해야 할 요소 및 그에 대한 구현 방안, 관련 제약 사항이 많은 만큼 구현 전 종합적이고 체계적인 접근이 필요함을 확인하였다.

콴다 효과를 이용한 고 양력 타가 선박의 조종성능에 미치는 영향을 평가하기 위하여 모형선 선회 시험을 수행하였다. 대상선은 47K PC선이며 1/85 스케일의 2m급 모형선을 이용하였다. 모형선 선회시험시스템은 모형선, 콴다 타, Jet 분사 시스템 및 타 구동장치 등으로 구성된 다. 모형선 선회 시험 결과, 고 양력타에 의한 타력 증가가 선박의 선회성능 향상에 효과적인 것을 확인하였다.

VLCC SPM 작업이 주로 이루어지는 외해에서는 기상상태 및 파랑 영향을 많이 받고 있다. 기상악화로 인한 비상 이안시에는 강한 바람과 높은 파고로 도선사의 승선이 불가능하고 예인선을 사용할 수 없는 경우가 대부분이다. 현재 울산항에서는 기상악화로 인한 VLCC의 SPM 비상이안이 빈발하고 있으며, 신항만 건설로 SPM 주위에 방파제가 건설됨에 따라 SPM 이안 선박의 조종영역 기준을 제시할 필요성이 대두되고 있다. 현재 우리나라에는 SPM 설치 기준이 없으며, 외국의 설치기준을 참조하고 있지만, 이 기준들이 일관성 및 근거가 부족한 실정이다. 따라서 울산항의 SPM 비상이안 선박들의 조종영역 실태를 AIS 항해 테이터를 이용하여 파악하고 선박의 조종영역 기준을 제안하고자 한다.

Ship operators use anchor dredging for the collision avoidance or safety of ship handling in a harbour or narrow channel. This paper clarifies the technique of the anchor dredging known as a common sense for. the seafarers A mathematical model at low speed range is established for the estimation of ship motion under the assumed environment, simulate the advance speed , and turning ability under the anchor dredging or not. The results shows good agreement with the conventional seamanship and their experiences as follows. Ahead speed used the anchor dredging is slower(speed reduction ratio:40%) than the normal ahead speed and the stopping distance is shorter (distance reduction ratio:40%)than the normal ahead distance without the anchor dredging.. Turning speed used anchor dredging is slower(speed reduction ratio:72%)than the normal ahead speed and the tactical diameter is shorter(distance reduction ratio:24%)than the diameter by the normal turning without the anchor dredging.

수역에서 항행할 시, 선박운항자는 위험을 회피하기 위해 타와 주기관 사용 등 여러 가지 조종요소를 사용하게 된다. 그 때 어느 정도의 조작량을 사용하는 가에 관해서는 선박운항자 개인의 특성에 따라 그 사용량 및 빈도는 달라지게 된다. 그러나 이러한 조종 요소의 빈번한 사용은 선박운항자에게 일정한 부하를 주게 될 것으로 생각된다. 본 연구에서는 이 부하를 조종부하로 정의하고, 교각이 설치된 직선 항로를 통항하는 시뮬레이터 실험을 통하여 조선 곤란성과의 관계를 접근하고자 하였다. 사용한 변수 항목으로는 우회와 감속과 이러한 조종 행동에 따른 항행시간 연장률 및 조선 곤란성(Environmental Stress) 수치를 이용하였다.

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.

실습선 한바다호에 설치된 선박 조종성능 계측 시스템을 이용하여 타각, 선회방향, 속력 등 다양한 조건으로 수차례에 걸쳐 선회시험을 실시하였다. 이를 바탕으로 선회권, 조종성 지수, 신침로 거리 등을 산출하여 상호 비교하였고, 그 결과 IMO 조종성 기준(Maneuvering standards)을 잘 만족하고 있음을 확인하였다. 실습선 한바다호는 좌현으로 선회하는 경우 모든 타각에서 선회권이 작게 측정되었고, 타 선박과 비교하여 선회성 지수(K)와 추종성 지수(T)가 상대적으로 크게 나타났다. 따라서 선회과정에서 선회경은 다소 작아질 수 있으나, 전진거리가 길어질 수 있으므로 전방의 위험물 회피에 주의가 요구된다. 또한, 신침로가 30˚~90˚인 경우 신침로거리는 125m~300m로 측정되었다. 이러한 결과는 충돌회피와 항내조선 및 협수도 항해 시 선박을 보다 안전하게 조선하는데 매우 중요한 지표가 될 것으로 판단된다.

일반적으로 거의 모든 항만들은 출입구가 하나뿐인 폐쇄형태로 설계되어 있다. 선박이 대형화됨에 따라서 선박의 조종곤란성, 선회수역의 크기, 추가적인 예선사용료 등의 문제가 발생한다. 이러한 문제를 해결하기 위해서 폐쇄형태의 항만에서 선박의 출입구가 각각 존재하는 일방통항형 항만형태로의 발상을 전환할 필요가 있다. 따라서 이와 같은 일방통항형 항만의 장점을 선박운항자의 조종부하경감 관점에서 검토하기 위해서는 정량적이고 시스템적인 분석절차가 필요하다. 본 연구에서는 각각 다른 세가지 출항방식에 대한 조선자의 선호도를 퍼지적분 모델을 이용하여 평가하였다.

Mathematical model of maneuvering motion for a single-screw single-rudder ship is established and several applications to the special situations of maneuvering are attempted. While, the mathematical model for twin-screw twin-rudder ship is not presented so much, because that type of ship is not popular. Lee et al. have examined the characteristics of such ship by captive model tests in 1988, in Japan. This paper proposes new mathematical models for propeller effective wake (1 -Ωp) and effective neutral rudder angle deltaR in the case of twin-screw twin-rudder ship. And some maneuvering motionse are calculated with proposed models and compared with exact simulations.

It is general that large ships entering or leaving a port located in the East coast of Korean peninsular are often exposed athwart to swell while maneuvering in the vicinity of breakwater at harbor enterance or to prevailing wind inside the port in winter. Particulary, Many VLCCs laden with ore coal are calling at Pohang Port, on account of which it is likely that one of those VLCCs block the port if they were to run aground in fairway due to adverse circumstance of swell, prevailing winds or improper shiphandling. This accident may result in delay of delivery of raw material for Pohang Steel Mill which will bring about shortcomings of steel products for nationwide relevant industries causing national economic shock. Therefore, This study basically aims at establishment of certain criteria for safe unberthing of VLCC in this port to prevent such unexpected disaster because any VLLC is highly affected by external forces when in ballast condition. Computer simulations are unavoidable to fulfull this study successfuly and many simulations have been carried out repeatedly to find a model of safe unberthing under various unfavourable wind conditions. The "PC-based ship maneuvering simulator for training purpose" was used to perform numerous simulations at the least economic burden and to verify its availability that it can be used not only for training but also some other purposes. purposes.

Most of the ShipHandling Simulators of full-mission-bridge system need vast area to install and even PC-based maneuvering simulators are often equipped with Steering Wheel or Engine Telegraphe etc. of data input interface, which necessarily makes the user face with excessive financial burden. These have been one of the obstacles for the officers, captains, pilots and students in access to maneuvering simulation whenever they want to try it in advance prior to actual ship maneuvering. Subsequently, all the officers and captains come to have little chances to train themselves until they arualified as a pilot after a long period of time of realship maneuvering practice on board, which means they have to control they have to control their own ship at sea without clear understanding on her maneuverability when they are forced to do it on the way. And these lack of capability for maneuvering have used so often to result in marine casualties of collision with other ships or pier facilities while maneuvering in harbor. To prevent those accidents by means of enhancing their maneuvering ability, PC-based DeskTop Simulator that allows anyong to access readily at anytime is needed and in conformation to such demand this simulator has been developed. The Software this simulator written in Turbo Pascal Ver. 5.0 has adopted MMG mathmatical model theoretically in part and also it was designed to make it possible that all numeric data inputs and outputs with graphic presentation for maneuvering operation be carried out just only with keyboard and monitor console. With the Simulation software, all the officers, captains, pilots and even students who has a proper computer at hand are expected to be able to make an attempt to simulate the maneuvering of their ownship or any other types of them at any port in which they want to do it.

Studies on the ship's automatic navigation & berthing control have been continued by way of solving the ship's mathematical model, but the results of such studies have not reached to our satisfactory level due to its non-linear characteristics at low speed. In this paper, the authors propose a new control system which can evaluate as closely as captain's decision-making by using the FNN(Fuzzy Neural Network) controller which can simulate captain's knowledge. This controller contains the concept of safety according to channel width. The learning data are drawn from ship Handling simulator(NavSim NMS-90 MK III) and represent the ship motion characteristics internally. According to learning procedure, the FNN controller can tune membership functions and identify fuzzy control rules automatically. The verified results show that the FNN controller is effective to incorporate captain's knowledge and experience of manoeuvrability in channel.