• 한국정밀공학회지
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• 제18권9호
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• pp.53-60
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• 2001

This paper presents a position control of a platform at the seaport cargo handling system. After brief description of the operating principles of the cargo handling system, the governing equation of the moving platform is derived. The equation is described in the state space model, and a robust H$_{\infty}$ controller to achieve position tracking of the moving platform. which can carry 200ton of containers, is formulated. In the synthesis of the controller, the weight of the container is treated as uncertain parameter. Both regulating and tracking control responses are analyzed for the loading and unloading procedures of the proposed automatic cargo handling system.

• 한국정밀공학회지
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• 제18권9호
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• pp.45-52
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• 2001

This paper presents two different models of electrorheological(ER) valves which can be applicable to an automatic cargo handling system at the seaport. Four different ER fluids, which are commercially available, are adopted and their Bingham characteristics are experimentally evaluated with respect to the intensity of electric field. The field-dependent Bingham models are used in the design of two types of ER valves; single-type and divided-type. The governing equations of motion of the ER valves are derived and the principal design parameters are determined based on 200ton platform to be vertically controlled by the ER valves. Both pressure drops due to the applied field and current density required to operate the ER valves are analyzed. In addition, the pressure drops of the cylinder system are evaluated for both ER valves.

• 한국IT서비스학회지
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• 제12권2호
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• pp.335-348
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• 2013

Vessel PMS (Planned Maintenance System) is a paper and/or software based system to monitor vessel engine equipment including main propulsion, steering, auxiliary machinery and cargo handling information. This is one of mandatory survey for vessel introduced by IMO (International Maritime Organization). The planned maintenance as well as documentation must be performed according to a system to be approved by classification agencies. Recently, vessel owners have preferred software based systems to collect and preserve accurate data. However, not ship specific and not taking into account the user are said by end users as operational difficulties. To relieve these concerns, this research analyzes vessel PMS data, suggests a middleware to support automatic collection and design consideration of user interface.

• Journal of Advanced Marine Engineering and Technology
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• 제27권6호
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• pp.759-766
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• 2003

The amount of container freight continuously has been increased. and the low efficiency of container crane causes jamming frequently in transportation and cargo handling at port. The conventional control techniques based on a mathematical model are not well suited for dealing with ill-defined and uncertain systems. Recently. Fuzzy control has been successfully applied to a wide variety of practical problems as robots. automatic train operation system. etc. In this paper. a fuzzy controller for container crane is proposed to accomplish a design of improved control system for minimizing the swing motion at destination. In this scheme a mathematical model for the system is obtained in state space form. Finally. to exhibit the tracking performance and robustness of the proposed controller. computer simulations were carried out with various references, parameter variations and disturbances.

• 로봇학회논문지
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• 제19권1호
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• pp.79-91
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• 2024

Large warehouses are building automation systems to increase efficiency. However, small warehouses, military bases, and local stores are unable to introduce automated logistics systems due to lack of space and budget, and are handling tasks manually, failing to improve efficiency. To solve this problem, this study designed small loading and unloading equipment that can be mounted on transportation vehicles. The equipment can be controlled remotely and is automatically controlled from the point where pallets loaded with cargo are visible using real-time video from an attached camera. Cargo recognition and control command generation for automatic control are achieved through a newly designed deep learning model. This model is designed to be optimized for loading and unloading equipment and mission environments based on the YOLOv3 structure. The trained model recognized 10 types of palettes with different shapes and colors with an average accuracy of 100% and estimated the state with an accuracy of 99.47%. In addition, control commands were created to insert forks into pallets without failure in 14 scenarios assuming actual loading and unloading situations.

• 한국철도학회논문집
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• 제15권4호
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• pp.334-342
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• 2012

유라시아 대륙에는 다양한 궤간이 존재하고 있다. 이런 차이는 서로 다른 궤간의 접속점에서 화물을 환적하거나 혹은 차량 운행 조립체를 교환하여야 하는 등 철도수송 시스템의 운영에 많은 영향을 준다. 그러므로, 철도 수송 시스템의 효율성은 복잡한 하역 및 교환 기술에 관련된 궤간 극복 방법에 매우 의존한다. 본 논문은 대륙철도 연결을 통한 국제 화물 수송에서 발생되는 1520/1435mm 궤간차이를 극복하기 위한 철도 수송 시스템의 효율성 평가를 목적으로 하였다. 먼저 궤간 변경지점에서 현재 수행되고 있는 수송 시스템을 간략하게 설명하고, 교환 기술에 대한 사전 분석을 수행하였다. LCC 모델에 기초하여 리프트에 의한 대차교환 방식과 자동궤간가변 시스템의 효율성을 비교평가 하였다.

• 한국정보통신학회논문지
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• 제23권4호
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• pp.374-380
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• 2019

컨테이너 표면에는 화물의 위험성을 표시하기 위해 다양한 플래카드를 부착한다. 위험물이 적재된 컨테이너의 경우 일반 컨테이너와 별도로 관리되는 등 그 처리에 주의가 필요하므로 항만 자동화 시스템의 일부로 플래카드 자동 인식에 대한 수요가 생겨나고 있다. 이 논문에서는 플래카드 자동 인식의 전단계로 컨테이너 영상에서 플래카드 영역을 추출하는 방법을 제안한다. 플래카드는 종류가 다양하지만 모두 다이아몬드 형태를 가지고 있다는 점은 인식에서 장점이 될 수 있지만, 컨테이너 표면이 평면이 아니어서 플래카드 영상이 다양하게 변형될 수 있다는 점은 인식에서 단점이라고 할 수 있다. 제안하는 방법을 실제 영상에 적용하였을 때 유형 2 오류(false negative error)는 발생하지 않았다. 또한, 관심 영역 추출을 위해 추출하고자 하는 대상의 형태적인 특징과 기본적인 이미지 연산만을 사용하였으므로 다양한 형태 기반의 관심 영역 추출에 적용될 수 있다.