• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 1999년도 추계학술대회논문집
• /
• pp.273-280
• /
• 1999

Yard cranes are very useful equipments for handing of heavy containers, But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. Therefore rope-driven yard cranes require skilled drivers to depress sway and skew motions. So many researches have been concentrated on anti-sway and anti-skew algorithm controlling trolley speed or rope tension. Although many efforts, the rope-driven method is not proper to an automated yard equipment because of sway and skew motion. This paper will propose a new concept yard crane which has a new structure, overcomes defects of rope-driven cranes and is proper to automation. And we will study its actuality

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 춘계학술대회 논문집
• /
• pp.428-431
• /
• 2002

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. ropes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And main schemes are introduced and explained briefly.

• 대한수학회논문집
• /
• 제11권3호
• /
• pp.649-655
• /
• 1996

A positive, disjoint linear map $\phi : A \to B$ of C^*$-algebras preserves absolute values if any *-anti-homomorphism $\psi : A \to B$ is skew-hermitian with respect to every commutators of unitary elements.

• 호남수학학술지
• /
• 제35권4호
• /
• pp.625-637
• /
• 2013

We investigate anti-centralizing and skew-centralizing mappings involving generalized derivations and derivations on prime and semiprime rings. We also obtain some range inclusion results for generalized linear derivations and linear derivations on Banach algebras by applying the algebraic techniques. Some results in this note are to improve the ones in [22].

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 추계학술대회 논문집
• /
• pp.446-449
• /
• 1997

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes arc passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. :opes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-sidc container cranes. In this paper, we derive cquatlons of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• Structural Engineering and Mechanics
• /
• 제74권2호
• /
• pp.227-241
• /
• 2020

The bi-axial and shear buckling behavior of laminated hypar shells having rhombic planforms are studied for various boundary conditions using the present mathematical model. In the present mathematical model, the variation of transverse shear stresses is represented by a second-order function across the thickness and the cross curvature effect in hypar shells is also included via strain relations. The transverse shear stresses free condition at the shell top and bottom surfaces are also satisfied. In this mathematical model having a realistic second-order distribution of transverse shear strains across the thickness of the shell requires unknown parameters only at the reference plane. For generality in the present analysis, nine nodes curved isoparametric element is used. So far, there exists no solution for the bi-axial and shear buckling problem of laminated composite rhombic (skew) hypar shells. As no result is available for the present problem, the present model is compared with suitable published results (experimental, FEM, analytical and 3D elasticity) and then it is extended to analyze bi-axial and shear buckling of laminated composite rhombic hypar shells. A C⁰ finite element (FE) coding in FORTRAN is developed to generate many new results for different boundary conditions, skew angles, lamination schemes, etc. It is seen that the dimensionless buckling load of rhombic hypar increases with an increase in c/a ratio (curvature). Between symmetric and anti-symmetric laminations, the symmetric laminates have a relatively higher value of dimensionless buckling load. The dimensionless buckling load of the hypar shell increases with an increase in skew angle.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2000년도 춘계학술대회논문집
• /
• pp.64-71
• /
• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2000년도 추계학술대회논문집
• /
• pp.143-151
• /
• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 한국산업융합학회 논문집
• /
• 제17권4호
• /
• pp.211-216
• /
• 2014

In general, gantry robot is very useful handling of heavy objects. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 한국해양공학회지
• /
• 제20권5호
• /
• pp.57-62
• /
• 2006

The most important thing in acontainer terminal is to handle the cargo effectively in the limited time available. To achieve this objective, many strategies have been introduced and applied. To create an automated container terminal, it is necessary for the cargo handling equipment to be equipped with more intelligent control systems. From the middle of the 1990's, automated rail-mounted gantry cranes (RMGC) and rubber-tired gantry cranes (RTG) have been widely used to handle containers in yards. Recently, many pieces of equipment, like CCD cameras and sensors, have beenmounted in these cranes to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes, which allow for more effective cargo handling in yards. For this purpose, the modeling, tracking control, anti-sway system design, skew motion suppressing, and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modeling and a new tracking control approach are discussed, and an experimental study is performed based on a two-degree-of-freedom (2DOF) servosystem design.