Startup SQL Developer.
From within the Connections navigator, click the + to the left of your desired Connection. This will expand the connection to display the object types within and will also open a SQL Worksheet on the right against the selected connection.
Within the SQL Worksheet, enter your desired date format such as:
alter session set nls_date_format = 'MM/DD/YYYY';
or
alter session set nls_date_format = 'MM/DD/YYYY HH24:MI:SS';
Click Execute Statement (if just one line of code) or Run Script (if multiple commands).