• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.61-72
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• 2005

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1743-1746
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• 2003

Automated Container Terminals have been being developed over the world for many recent years and more and more countries get interested in it because the amount of containers exported or imported is steeply increasing. Existed Container Terminals were not designed to control this kind of heavily many containers. They would face many structural problems soon or later, although they have managed to do well until now. One of the most important things in developing Automated Container Terminal is to develop the equipment able to transfer the awfully many containers. Those are maybe Automated Transfer Cranes, Automated Guided Vehicles, and Automated Quay-Side Cranes. The word "Automated" means the equipment is operated without drivers and those equipments are able to work without taking any break. Through the researches on the existed transfer cranes, authors decided that the structure of existed transfer cranes is not proper to swift and fast transfer and it′s not impossible to handle so many containers in limited time. Therefore authors have been studying on the proper structure of the Automated Container Crane for past several years and a new type of transfer crane has been developed. Design concepts and control methods of a new crane will be introduced in this paper.

• Journal of Power System Engineering
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• v.11 no.4
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• pp.103-108
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• 2007

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. The measuring system is based on laser sensor or others. However it is not so useful in real world. Especially, in this paper, the image sensor is used to measures the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method which is named Vector Code Correlation (VCC) and devised to consider the real environmental conditions. And the $H_{\infty}$ based control technique is applied to suppress swing motion of the crane. And the experimental result shows that the proposed measurement system based on image sensor and control system is useful and robust to disturbances.

• Journal of Korea Port Economic Association
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• v.27 no.4
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• pp.187-205
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• 2011

In considering the size of container logistic flow of Korea, one-port as a hub port is desirable in Busan Port, but as development of Busan Port and Gwangyang Port began as two-ports, they are good as mega hub ports. In case when ports of other regions such as Incheon Port are additionally developed, it is very likely that they become feeder ports rather than mega hub ports. As capital area uses Incheon Port and Pyeongtaek Port for transportation, fierce competition arises due to excessive facilities of terminal companies and it is not easy to be profitable. Therefore, it is more profitable to develop regional hub ports centering on near-sea routes of Korea China Japan rather than local ports such as Incheon Port and Pyeongtaek Port for intensive trade and transportation in the capital area. To mitigate excessive competition between container terminal companies, we need administrative guidance to maintain adequacy through comparing tariffs between ports of Japan and China which are in competitive relations with Korean ports. This study analysed efficiency of container terminal companies in Gwangyang Port, Busan Port and Incheon Port using data for five years from 2006 to 2010. As analytical variables, length of quay, floor area of yard, the number of cranes and employees were analytical variables and a total freight volume was a productive factor.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.5
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• pp.497-504
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• 2012

The mobile harbor is a new innovative system that delivers containers from a containership to a harbor without good infrastructure. A crane is installed on the deck of the mobile harbor and transfers the containers. The structure of the crane is influenced by the inertia force that occurs from a moving support. Thus an accurate safety verification considering the moving support is required. Lightweight of the crane structure is also significant in the design for low production cost and efficient operation. Dynamic response optimization can be exploited to achieve these two requirements. Equivalent static loads method is employed for dynamic response optimization of the crane. The equivalent static loads method transforms dynamic loads to equivalent static loads, and static response structural optimization with the transformed equivalent static loads are solved. The process proceeds in a cyclic manner. A new method is proposed to consider the moving supports and the structure of the mobile harbor is optimized using the proposed method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2005.10a
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• pp.263-268
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• 2005

Nowadays, the vessel size is tending to be bigger and bigger, so port facilities are following this trend, which has been shown inthe competition of Hub-Port among the main ports such as Port of Busan and Port of Shanghai. But there are limited numbers of large container vessels and $70\%$ of the call ships at Busan port are middle and small sized ships which are less than 20,000ton. So we need to consider the handling facilities for these sized ships, but it has disregarded. In this paper, we estimate the optimum level of crane and labor according to vessel's size by container handling cost value reflecting size of vessel; size and number of crane and labor structure.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.04a
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• pp.276-277
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• 2010

This paper deals with energy storage system for saving the energy of RTGC(rubber tired gantry crane). Advantage and disadvantage of battery, super-capacitor, and flywheel as an energy storage system were surveyed. Even if a flywheel energy storage system includes some problems such as manufacturing technique and high price, it is surveyed with a promising energy storage system In addition, RTGCs using battery or flywheel as the energy storage system were quantitatively presented through a survey of literatures. It was found that the both RTGC with those systems can reduced the waste of energy.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1112-1118
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• 2004

Automated container terminals have been developed over the world years and many countries are interested in them because the amount of containers exported or imported is rapidly increasing. The conventional container terminals were not designed to handle this kind of heavily many containers. They would face many structural problems soon or later, although they have been managed to do well so far. One of the most important things in automated container terminal is the handing equipments able to transfer many containers efficiently. Those are maybe automated transfer cranes, automatic guided vehicles and automated quay-side cranes. The word 'automated' means the equipment is operated without drivers and those equipments are able to work without any interruption in working schedule. Through the researches on the conventional transfer cranes, we decided that the structure of conventional transfer cranes is not proper in automated container terminal and it is not possible to handle so many container in limited time. Therefore we have been studying on the proper structure of the automated container for past several years and a new type of transfer cranes has been developed. Design concept and control method of the new crane are introduced and experimental results are presented in this paper.his paper.

• Journal of Korean Port Research
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• v.11 no.1
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• pp.1-11
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• 1997

The conventional methods of container forecasting is done through regression methods based on GNP growth trends and by other forecasting methods proposed by several authors. However these efforts prove to be inadequate with visible weakness and a more reasonable approach need to be determined. The succeeding sections elaborate the methodology and approach adopted. The results are then compared through a case study involving the forecast figures derived by the Pusan Port Authority and the values obtained by MRCS model introduced in this paper.

• Journal of Korea Port Economic Association
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• v.26 no.1
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• pp.43-60
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• 2010

The purpose of this paper is to show the clustering measurement way for Korean container terminals by using neural network based SOM(Self Organizing Map). Inputs[Number of Employee, Quay Length, Container Terminal Area, Number of Gantry Crane], and output[TEU] are used for 3 years(2002,2003, and 2004) for 8 Korean container terminals by applying both DEA and SOM models. Empirical main results are as follows: First, the result of DEA analysis shows the possibility for clustering among the terminals and reference terminals except Gamcheon and Gwangyang terminals because of the locational closeness. Second, the result of neural network based SOM clustering analysis shows the positive clustering in clustering positions 1, 2, 3, 4, and 5. Third, the results between SOM clustering and DEA clustering show the matching ratio about 67%. The main policy implication based on the findings of this study is that the port policy planner of Ministry of Land, Transport and Maritime Affairs in Korea should introduce the clustering measurement way for the Korean container terminals using neural network based SOM with DEA models for clustering Korean ports and terminals.