:: ICCAS 2015 ::

TA02		[OS] Sensing and Control System Application for Marine Systems
Time : 09:10~10:40 Room : 102		Chair : Youngbok Kim (Pukyong National University, )



09:10~09:25	TA02-1

Accuracy Evaluation of Camera-based Position and Heading Measurement System for Vessel Positioning at a Very Close Distance
Yoshiaki Mizuchi, Tadashi Ogura(Soka University, Japan), Young-Bok Kim(Pukyong National University, Korea, Republic of ), Yoshinobu Hagiwara(Ritsumeikan University, Japan), Yongwoon Choi(Soka University, Japan)

We propose a camera-based measurement system for the position and heading of a vessel at a close distance to a target. The purpose of this study is to measure the position and heading relative to a target with high accuracy and rate, to reduce collision risks by automation of vessel positioning. To achieve such measurement, cameras that have wide sensing range and high angular resolution are employed. To demonstrate that the proposed system has applicability to the vessel positioning at a close distance to a target, we evaluated the measurement accuracy of the proposed system.



09:25~09:40	TA02-2

A Study on Floating Unit Motion Control Strategy
Youngbok Kim, Abh-Minh D. Tran, Jung-In Yun, Kwang-Hwan Choi, Chang-Hyo Son(Pukyong National University, Korea, Republic of )

Energy companies today increasingly look offshore and head towards deeper waters to assist fueling modern society. Semisubmersibles and drill-ships are often used to prospect and produce in remote environments. The oil rigs should be essentially kept on target. In this paper, the authors solve the problem of designing a Position Mooring (PM) system for barge ship. A mathematical model of a system describing the interaction between an unactuated barge ship and mooring system is presented. A PID control scheme is implemented to achieve PM for the vessel by changing the tension of the mooring rop



09:40~09:55	TA02-3

An Easy Learning and Regeneration Strategy of Robot Motion
Youngbok Kim(Pukyong National University, Korea, Republic of ), Dac-Chi Dang(the Graduate School, Pukyong National University, Korea, Republic of ), Suk-Ho Jung(Pukyong National University, Korea, Republic of ), Yong-Woon Choi(Soka University, Japan)

This paper addresses a method for easy recognition and regeneration of the robot motion initially made by the operator. This method is used for robot motion control to cope with painting, welding job and etc. The main processes are accurate modeling, control design and experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. The robust control method based on control framework is applied to design the control system for motion control. The experiment by comparison of the robust control method with the existing PID control



09:55~10:10	TA02-4

Highly Accurate Stereo-based Measuring and Tracking System for Vessel Control
Tadashi Ogura, Yoshiaki Mizuchi(Soka University, Japan), Young-Bok Kim(Pukyong National University, Korea, Republic of ), Yongwoon Choi(Soka University, Japan)

This paper describes the highly accurate stereo-based measuring and tracking system that measures the distance to a specific landmark installed on a target side. In this study, high accurate distance measurement is achieved by improved target detection that has sub-pixel positional accuracy. The robustness of the measurement against the motion is also achieved by synchronizing the capture timing of the stereo cameras. Results of measurement from 5 to 20 m distance demonstrates that the system has 10 mm accuracy, and the system robustly measures the distance against waving motion.



10:10~10:25	TA02-5

Railway Track Structural Health Monitoring System
Fatima Imdad, Muhammad Tabish Niaz, Hyung Seok Kim(Sejong University, Korea, Republic of )

Railway is one of the most used means of transportation. For the railway system to operate flawlessly constant monitoring and inspection of railway tracks is required. Currently railway track inspection and monitoring is done manually which is time taking and not accurate, due to the high chance of human error occurrence. Moreover, practically it is impossible to inspect and monitor the railway track manually as they run thousands of miles. To avoid this we propose a prototype system, designed for continuous monitoring of railway tracks using a combination of sensors...



10:25~10:40	TA02-6

Active Control of an Offshore Container Crane
Ngo Phong Nguyen, Quang Hieu Ngo(Can Tho University, Viet Nam), Quang Phuc Ha(University of Technology Sydney, Australia)

Open sea loading/unloading cargos provides a potential solution to tack the problem related with port construction, expansion and congestion. This process involves a crane attached to a mobile harbor (MH) which can dynamically handle container from a large container anchored in deep water. The control objective during the operation is to maintain the payload in the desired position in the presence of ocean waves. This paper presents a robust control strategy for trajectory tracking and sway suppression of an offshore container crane. A fuzzy sliding mode control law is proposed for that.