• Journal of Navigation and Port Research
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• v.32 no.9
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• pp.737-742
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• 2008

In this paper, we deal with an allocation model of vertical type container yard for minimizing the total ATC (Automated Transfer Crane) working time and the equivalence of ATC working load in each block on automated container terminal. Firstly, a layout of automated container terminal yard is shown The characteristic of equipment which work in the terminal and its basic assumption are given Next, an allocation model which concerns with minimizing the total working time and the equivalence of working load is proposed for effectiveness of ATC working in automated container terminal. Also, a weight values on critical function are suggested to adjust the critical values by evaluating the obtained allocation plan. For ATC allocation algorithm, we suggest a simple repeat algorithm for on-line terminal operation.

• IE interfaces
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• v.19 no.3
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• pp.214-224
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• 2006

The container handling times of automated transfer cranes(ATCs) significantly affect the productivity of container terminals. In this paper, evaluation models for the container handling times of ATCs are suggested for import container blocks with different transfer point configurations. Firstly, evaluation models for various motion times of stacking and retrieving operations of ATC are suggested for two basic alternatives of import container blocks. In addition, in considering the space allocation, evaluation methods for the container handling times of ATC are suggested. Finally, the container handling times for each case are compared with each other in order to analyze how the block shape and the transfer point locations affect the container handling times of ATC.

• IE interfaces
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• v.17 no.2
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• pp.233-241
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• 2004

The main subject to become a hub port is automation. The automated container terminal has already operated in advanced ports and it has been planned for the basic planning and operation design in domestic case. The key of automated container terminal is effective operation of both ATC(automated transfer crane) and AGV(automated guided vehicle) which is automated handling equipments. This is essential to productivity of automated container terminal. This study suggests the most optimal method of equipment operation in order to minimize loading time using each three types of effective ATC operation methods and AGV dispatching rules in automated container terminals. As the automated equipment operation causes unexpected deadlocks or interferences, it should be proceeded on event-based real time. Therefore we propose the most effective ATC operation methods and AGV dispatching rules in this paper. The various states occurred in real automated container terminals are simulated to evaluate these methods. This experiment will show the most robust automated equipment operation method on various parameters(the degree of yard re-marshaling, the number of containers and AGV)

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2002.05a
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• pp.152-157
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• 2002

본 연구에서는 컨테이너 터미널의 자동화 설비 중 안벽용 크레인(Quay Crane: QC)과 장치장용 크레인(Automated Transfer Crance: ATC)간의 컨테이너 이송을 담당하는 AGV(Automated Guided Vehicle)의 운영에 관한 시뮬레이션을 수행할 수 있는 전용의 시 뮬레이터를 개발하는데 목적은 두고 수행하였다. 자동화 컨테이너 터미널의 처리 능력은 선석의 QC 능력에 의해서 결정되지만, QC의 능력을 최적화하기 위해서는 컨테이너 터미널 내에서의 AGV의 운영 효율이 결정적인 역할을 한다. 또한 AGV의 운영 효율에는 장치장의 ATC 작업시간이 영향을 준다. 연구결과, AGV의 운영 효율 평가를 위한 시뮬레이터를 개발하였으며, 이를 이용하여 QC의 작업시간과 ATC의 작업시간에 따른 AGV의 적정대수를 산출하였다. 본 시뮬레이터는 실제 컨테이너 터미널의 운영 상대와 유사한 시뮬레이션을 수행할 수 있고, 컨데이니 터미널의 운영 능력을 산출하는데 적합하도록 개발되었다.

• International Journal of Precision Engineering and Manufacturing
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• v.7 no.1
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• pp.35-41
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• 2006

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 jar 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.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.505-519
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• 2005

In this paper, we develop an 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 simulation and experimental results show that the proposed control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller. As the results in this paper, 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.

• 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

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1327-1332
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• 2003

In this paper, an ATC(Automated Transfer Crane) control system is required rapid transportation to get highest productivity with low cost. Therefore, the container paths should be built in terms of the least time and least sway when container is transferred from the initial coordinate to the finial coordinate. So we applied the best-first search method for forming the container path, and calculated the anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the neural network two degree of freedom PID (TDOFPID) controller to control the precise navigation. For simulation, we constructed the container profiles so that we analyzed the state of formed path and the performance of TDOFPID controller to the formatted path. Then we compared the performance of ES-tuned PID controller with our proposed controller in terms of trolley position, anti-sway, path change, disturbance, and the load of containers. The computer simulation results show that the proposed controller has better the other on the various conditions.

• Proceedings of the Korea Information Processing Society Conference
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• 2003.05b
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• pp.791-794
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• 2003

자동화 컨테이너터미널은 ATC(Automated Transfer Crane)와 AGV(Automated Guided Vehicle)와 같은 자동화 운송 장비를 사용하는 컨테이너터미널이다. 이러한 자동화 컨테이너터미널의 핵심은 생산성을 향상시키기 위한 효율적인 장비 운영이 결정적인 역할을 한다. 본 논문에서는 AGV의 이동 위치 결정을 위한 RTK-GPS(Real Time Kinematic-Global Positioning System) 위치 정보 전송 및 운용 방법에 대해서 연구하였다. 이를 위해서 기존의 무선모뎀을 이용한 RTK-GPS 전송 방법을 무선 LAN(Local Area Network) 환경에서 RTK-GPS 위치 정보 전송 방법에 대해서 제안하고, AGV 이동 위치 결정 및 계산을 실험하였다.