해도 정보를 이용한 선박의 최적 항로 생성

김민규(Min-Kyu Kim),김종화(Jong-Hwa Kim),양현(Hyun Yang) 한국항해항만학회 2022 한국항해항만학회 학술대회논문집 Vol.2022 No.2

Min-Kyu Kim*․Jong-Hwa Kim**․†최근 자율 운항 선박에 대한 관심이 높아지고 있다. 특히, MUNIN (Maritime Unmanned Navigation through Intelligence in Networks) 프로젝트를 계기로 자율 운항 선박에 대한 개발과 연구가 활발히 진행되고 있다. 또한 국제해사기구 IMO는 자율 운항 선박 시대에대응하기 위해 자율 선박을 MASS (Maritime Autonomous Surface Ship)라 정의하고 선박 자율화 정도에 따라 4단계 등급을 제시하고 있다. 완전한 자율 운항 선박에 대한 요구조건을 만족하기 위해서는 항로 결정과 제어기술이 필수적이다. 본 연구에서는 여러 가지 기술 중 선박의최적경로를 생성하는 기법을 다룬다. 기존에 최적항로를 생성하기 위한 방법으로는   , Dijkstra와 같은 알고리즘들이 주로 사용되었다. 그러나 이와 같은 알고리즘은 섬이나 육지에 대한 충돌 회피는 고려하고 있지만 수심 및 연안 선박에 대한 규정들은 고려하지 않고 있어실제로 적용하기에는 한계점이 있다. 따라서 본 연구에서는 안전을 위해 선박의 선저 여유 수심과, 해도에 규정되어 있는 선박 운항에 대한여러 규정들을 반영하여 최적 항로를 생성하고자 한다. 최적 항로를 생성하기 위한 알고리즘으로는 강화학습 기반의 Q-learning 알고리즘을적용하였다.

Anti - Tac 항체의 L chain 유전자 재배열

김종화,이병룡,김학주,변시명 ( Jong Hwa Kim,Byeong Ryong Lee,Hack Joo Kim,Si Myung Byun ) 생화학분자생물학회 1987 BMB Reports Vol.20 No.3

A high molecular weight DNA from a hybridoma cell, Hd-2-4-5, producing anti-tac antibody was digested to completion with BamHI restriction endonuclease. The resulting DNA fragments were fractionated according to the size in 1% preparative agarose gel electrophoresis. After ligation of the fragment with modified Charon 28 and packaging in vitro, DNA fragments carrying the gene sequences coding for the varibable region of light chains were detected by hybridization with mouse J_k fragment labeled with ^(32)P. We have cloned the κ-sequence positive BamHI DNA fragments and characterized the cloned sequences by comparing with mouse embryonic light chain. On the basis of the results, it was concluded that the cloned light chain gene underwent somatic rearrangement. The J₁-J₂ cluster was deleted and the region was directly linked to remaining J cluster by V-J recombination.

연안어장의 부유성 폐기물 분포와 조성에 관한 연구 II. 남해 중부해역의 폐기물 수송

김종화,KIM Jong-Hwa 한국수산과학회 1999 한국수산과학회지 Vol.32 No.3

Floating debris was recorded from a training ship, $\sharp$1 Kwanaksan, of Pukyong National University with about 10 knots speed at July 15th and 20th of 1997. The sampled area is the middle of southern sea of Korea, divided into 44 unit segments on survey routes. Debris fabrication materials were categorized with 6 items using the following; man-made or natural wood items, paper and cardboard, nylon netting and rope, styrofoam, plastics, floating metal and glass containers. All identified items within a 100 $\pm$ 2 m wide band were recorded but ignored if beyond this boundary. The results of distribution and transport of floating debris in the area are as follows: 1. The quantities of debris during the survey were distributed from $1.6\~369.7\;items/km^2$. The most obvious trend is the widespread distribution of all debris. The highest densities of all debris were discovered in the coastal waters of Namhae and Yokji island, and of about 50 km off from the southward of Yokji and about 74 km off from the eastward of Komun island. Especially many of small styrofoams within $\phi$20 cm were observed in these segments. 2. Styrofoams and plastics were composed of $83.5\%$ among all debris, next woods items, $9.8\%$. 3. The quantities, distribution shapes and composition of debris were varied as the observed duration and the natures of each items. 4. These phenomena are concluded that firstly they depend on the river discharges included debris due to precipitation falls, secondly inflow or dumping debris are drifting to the off-shore by Kuroshio currents present at their adjacent sea, But on the basis of the observed data it is difficult that source position, quantities and inflow items of debris are identified, and also the transport processes is pursue. further more surveys are continuously being investigated, and from this it is hoped that a much wider coverage can be achieved, perhaps on all sites of the Coast of Korea and contributed to the stationary area, finding of sources, removal method of debris and resistants of marine productivity.

금년도 출판시장 '대체로 맑음' 예상

김종화,Kim, Jong-Hwa 대한출판문화협회 2006 출판저널 Vol.362 No.-

프로펠러와 부가추력장치를 갖는 특수선의 모델링 및 통합제어기 개발

김종화,임재권,이병결,Kim Jong Hwa,Lim Jae Kwon,Lee Byung Kyul 한국마린엔지니어링학회 2005 한국마린엔지니어링학회지 Vol.29 No.2

Dynamic Positioning(DP) system maintains ship's position (fixed location or predetermined track) exclusively by means of CPPs and thrusters. To generate the control input adequate to various situation an integrated controller for CPPs and thrusters is required. The integrated controller is composed of a thrust calculation algorithm and a thrust allocation algorithm. The thrust calculation algorithm generates thrusts in the surge direction and the sway direction from the desired forward and lateral speed and generates a moment about the yaw axis from desired heading angle. The thrust allocation algorithm allocates the generated thrusts and moment to each CPP and thruster. Computer simulations are executed to confirm the effectiveness of the suggested controller.

해류중 직선 항행하는 선박의 LOS 가이던스 시스템의 제안과 유전 알고리즘을 이용한 최적화

김종화,이병걸,Kim Jong-Hwa,Lee Byung-Kyul 한국마린엔지니어링학회 2005 한국마린엔지니어링학회지 Vol.29 No.1

This paper suggests LOS(Line-Of-Sight) guidance system of a surface vessel in straight-line navigation under ocean currents An LOS vector from the vessel to a point on the path between two way-points is decided and a heading angle is calculated to converge to follow the desired path based on the LOS vector This guidance system is called LOS guidance system. The suggested LOS guidance law has parameters to be properly chosen according to navigational environment. Parameters of LOS guidance system are optimized to reduce propulsive energy and/or position error between desired Position and present position of a ship using genetic algorithm which is a strong optimization algorithm with adaptational random search The effectiveness of the suggested LOS guidance system is assured through computer simulations.

Custom Abutment의 Emergence Profile을 결정하는 방법에 관하여

김종화,Kim, Jong-Hwa 대한심미치과학회 2012 Journal of the Korean Academy of Esthetic Dentistr Vol.21 No.1

선박의 항로추종을 위한 펴지 PID 제어기형 오토파이럿 시스템

김종화,하윤수,이병결,Kim, Jong-Hwa,Ha, Yun-Su,Lee, Byung-Kyul 한국마린엔지니어링학회 2006 한국마린엔지니어링학회지 Vol.30 No.6

This paper proposes an autopilot system using a fuzzy PID controller to satisfy performances required for the automatic navigation of ships under various marine circumstances. The existing autopilot system using a PD type controller has difficulties in eliminating a steady-state error and compensating nonlinear characteristics of ships. The autopilot system using the proposed fuzzy PID controller has a self-tuning ability, an ability to compensate nonlinear characteristics, and an ability to turn at constant angular velocity. Therefore. it can naturally make a steady-state error zero, compensate nonlinear dynamic effect of ships, have an adaptability to parameter variation owing to shallow water effect, and have an ability to turn ship's course rapidly without overshoot through procedures of acceleration, constant, and deceleration of angular velocity for large course-changing.

Rearrangement of Light Chain Gene of Anti-Tac Antibody

김종화,이병룡,김학주,변시명,Kim, Jong-Hwa,Lee, Byeong-Ryong,Kim, Hack-Joo,Byun, Si-Myung 생화학분자생물학회 1987 한국생화학회지 Vol.20 No.3

Anti-Tac 항체를 생산하는 하브리도마 세포인 Hd-2-4-5로 부터 유전자를 분리하고 Bam HI 제한효소를 이용하여 완전 분해한 후 DNA조각을 agarose gel 상에서 크기에 따라 10가지 부분으로 나누였다. 이렇게하여 형성된 각 DNA조각을 Southern blot를 행하므로서 어느 부분이 anti-Tac 항체의 L chain을 가지고 있는지를 확인한 후 in vitro packaging 법과 situ plaque hybridization 방법을 이용하여 L chain을 함유하는 clone을 분리하였다. 이렇게 하여 얻어진 clone으로 부터 pBR 322에 subcloning 실험과 제한효소 지도작성을 통하여 배아세포의 L chain파 비 교함으로써 anti-Tac항체의 L chain의 재배열을 연구했다. 이때 anti-Tac 항체의 L chain은 $J_1-J_2$ cluster가 deletion 되어 있었고 V-J recombination에 의해서 V 부위가 직접 $J_3-J_4-J_5$ cluster에 연결되어 있음을 알 수 있었다. A high molecular weight DNA from a hybridoma cell, Hd-2-4-5, producing anti-tac antibody was digested to completion with BamHI restriction endonuclease. The resulting DNA fragments were fractionated according to the size in 1% preparative agarose gel electrophoresis. After ligation of the fragment with modified Charon 28 and packaging in vitro, DNA fragments carrying the gene sequences coding for the variable region of light chains were detected by hybridization with mouse $J_k$ fragment labeled with $^{32}P$. We have cloned the k-sequence positive BamHI DNA fragments and characterized the cloned sequences by comparing with mouse embryonic light chain. On the basis of the results, it was concluded that the cloned light chain gene underwent somatic rearrangement. The$J_1-J_2$cluster was deleted and the region was directly linked to remaining J cluster by V-J recombination.

SCS 유출곡선지수법(流出曲線指數法)을 이용한 만내(灣內) 담수(淡水) 교체시간(交替時間)의 추정(推定)

김종화,장선덕,송현구,Kim, Jong Hwa,Chang, Sun Duck,Song, Hyun Ku 대한토목학회 1994 대한토목학회논문집 Vol.14 No.6

항만의 단기 관측자료에 의한 해수의 수송은 조석잔차류와 바람응벽 등으로 해수의 평형상태를 유지하기 어렵다. 이로 인해 순 용적수송량이 만외로 유출되어야 함에도 불구하고 짧은 주기동안 만내로 유입됨으로써 담수 교체시간을 계산할 수 없었다. 본 연구는 1 조석 주기의 단기관측과 유역의 강우량 자료로부터 SCS의 유효강수량을 계산함으로써 담수 교체시간의 추정가능성을 검토하였다. 완전혼합을 가정하여, 여름철 마산만에 적용된 담수 교체시간은 외해수의 염분변화에 따라 10.9~15.3일로 분포하였다. 이는 여름철 마산만에서 순 용적 수송량(NVT)에 의한 평균 체류시간 13.9일에 상당히 근접된 값이다. 강한 성층을 이룬 홍수기의 경우 2층모델에 적용하면, 만구에서 교체시간은 1.2일로 추정되어 완전혼합모델에서 얻은 2.1일보다 작은 값이다. 이것은 홍수기에 유입된 담수가 대부분 상층을 통하여 만외로 유출되기 때문이다. 또 마산만에서 얻은 담수 유입량 $Q_r$과 교체시간 t와의 상관관계식을 완전혼합과 2층 모델의 2가지 조건으로 나타내었고, 이들이 비선형적 관계를 가지고 있음을 알 수 있었다. 이런 관계는 보스톤 내만에서 직접 하천 유입량을 조사한 결과와 근접된 형태를 보였다. 따라서 이 식들은 만의 흐름구조와 농도의 성층정도에 따라 달리 적용할 수 있고, 담수유입량의 변동에 의한 담수 교체시간의 예측을 가능케 한다. 그러므로 순 용적 수송량의 계산으로 구할 수 없는 단기관측자료는 SCS 유출곡선지수법에 의해 담수 교체시간의 추정이 가능할 것이다. The SCS Curve Number(CN) method has become widely accepted as a procedure of estimating stormflow volumes for design and natural events in small watersheds. The applicability of this method for calculating the flushing time was evaluated as compared with the net volume transport(NVT) method in Masan Bay, Korea. It is shown that the flushing time using the CN method ranged from 10.9 to 15.3 days under the well mixed condition, that the time using the NVT method was 13.9 days averaged over 6 days of field data. These results were revealed that two methods calculated the approximate times as shown above. The relationships between the run-off, Qr, and the flushing time, t, are expressed as the following forms. $t_1=228.79Q_r^{-0.9996}$ in case of well mixed condition, (1) $t_2=131.06Q_r^{-1.0}$ in case of two layered model. (2) Those empirical expressions are represented that the relationships between Q and t are nonlinear as those as Bumpus obtained in Boston Inner Harbour. Therefore, the CN method will permit calculation of the flushing time for any given bay to be unexpected as water balance under the condition of short-time (0.5 day) data, instead of NVT method based on the long-time (at least 3 days over) data.