• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.151-157
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• 2004

In this paper, we propose a simple control scheme, based on second order sliding modes, which guarantees a fast and precise container transfer and the swing suppression during the container movement, despite of model uncertainties and unmodeled dynamic actuators. In the actual case, the swing suppression is obtained by constraining the system motion on a suitable surface which involves both the desired path and the swing angle. Strictly speaking, the trolley velocity is modified on-line, on the actual swing angle, to obtain the suppression of the oscillations not only at the end of the transport but during transfer as well. Such controller has been tested on a laboratory-size model of the 3Dcrane, and some experimental results are reported.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.2
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• pp.50-56
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• 2000

This paper presents the design of an optimal state feedback controller for container cranes under some design specifications. To do this, the nonlinear equation of a container crane system is linearized and then augmented to eliminate the steady-state error, and some constraints are derived from the design specifications. Designing the controller involves a constrained optimization problem which classical gradient-based methods have difficulties in handling. Therefore, a real-coding genetic algorithm incorporating the penalty strategy is used. The responses of the proposed control system are compared with those of the unconstrained optimal control system to illustrate the efficiency.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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• pp.958-965
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• 2007

The spreaders on container cranes are usually controlled to stop at the same time as their trolleys are stopped. Despite the use of adequate control systems, however, the spreaders usually have comparatively large sway movements, due to their suspension from the trolleys through cables. It is, therefore, important to accurately measure the attitudes of the spreaders, in order to suppress such sways by means of secondary control. Until now, most of conventional anti sway control systems focus on the direct control of the movements of trolleys. which seems not suitable to speed up the entire process - loading and unloading of containers. In this paper, we suggest a new anti sway control system: By using extra equipments - two propellers to suppress the sway and a PSD camera to measure the spreader's attitude - installed on the spreader and the trolley. the sway of the suspended load j, considerably suppressed. The effectiveness of the proposed scheme is verified by the computer simulation and experiment with the miniature of the container crane system.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2003.05a
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• pp.1165-1170
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• 2003

The objective of this study is to develop the simulation model of transport vehicle to analyze the required number of transport vehicle and to design the traffic pattern at automated container terminal. To model the transport vehicle, we defined the vehicle model and the traffic model using the state transition model of transport vehicle. An application of a simulation to simulate an automated container terminal with perpendicular layout is developed and described. From the results of simulation experiment, we obtained the vehicle speed and the number of vehicle under given productivity of container cranes, and analyzed the saving effect by cycle time.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.3
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• pp.273-279
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• 2012

The concept of the Mobile Harbor had been made recently as a kind of feeder vehicle to transfer a certain amount of container boxes (i.e. 250 TEU at a time) from main ocean container vessels over 5,000 TEU capacity to the container terminal on land. In a harbor a short distance apart from the land, the container loading/unloading operation has to be performed on the main deck of the Mobile Harbor using the container cranes in the state of side-by-side mooring with protection of fenders and robot arms in the gap. Even under the ocean condition of the sea state class 2 or 3, the operation has to be confirmed to be safely performed. In this situation, the floating bodies considering the multiple-body interaction effect also has to be examined whether they might behave safely or not. Especially, this study focuses on the dynamic behavior of the Mobile harbor when a container box is hanged on the crane and the impact load due to the slewing motion is imposed in a certain sea state. The motion response should be controlled within the motion level to assure the safe operation.

• Industrial Engineering and Management Systems
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• v.12 no.4
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• pp.359-367
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• 2013

The amount of international trade is rapidly increasing as a result of globalization. It is well known that as the size of a vessel becomes larger, the transportation cost per container decreases. That is, the economy-of-scale holds even in maritime container transportation. As a result, the sizes of containerships have been steadily increased for reducing transportation costs. In addition, various handling technologies and handling equipment have been introduced to increase the throughput capacities of container terminals. Quay crane (QC) that carries out load/unload operations plays the most important role among various handling equipment in terminals. Two typical examples of advanced QC concepts proposed so far are double trolley QC and supertainer QC. This paper suggests a method of estimating the expected value and the standard deviation of the container handling cycle time of the advanced QCs that involve several handling components which move at the same time. Numerical results obtained by the proposed estimation procedure are compared with those obtained by simulation studies. In order to demonstrate the advantage of advanced QCs, we compared their expected cycle times with those of a conventional QC.

• Industrial Engineering and Management Systems
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• v.12 no.4
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• pp.289-304
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• 2013

With advancements of quay side equipments and technologies, the bottleneck of port operations has moved from quay side to yard side. The yard management of a port has significant influences on the competitiveness of a port in the global shipping network. The research area of yard management has attracted a lot of attentions from both the academia and the industrial practitioners. This paper gives a comprehensive review for the studies on the yard management in container terminals. From three aspects, i.e., yard cranes management, yard vehicles management, and yard spaces management, this paper reports the advances in these three areas. Some future directions on the yard management researches are also discussed. The purpose of this paper is to stimulate more practically relevant researches in this emerging area.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2474-2479
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• 2005

The control objectives in this paper are to move the gantry of a container crane to its target position and to suppress the transverse vibration of the payload. The crane system is modeled as an axially moving nonlinear string equation, in which control inputs are applied at both ends, through the gantry and the payload. The dynamics of the moving string are derived using Hamilton's principle. The Lyapunov function method is used in deriving a boundary control law, in which the Lyapunov function candidate is introduced from the total mechanical energy of the system. The performance of the proposed control law is compared with other two control algorithms available in the literature. Experimental results are given.

• IE interfaces
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• v.11 no.1
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• pp.105-117
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• 1998

A decision support system is introduced for the efficient operation of port container terminals. It consists of ship planning subsystem, yard planning subsystem, resource management subsystem, real-time control subsystem, and simulation subsystem. The system is intended to support the planning process of the planners and the operation process of the administrators in the container terminals. It is assumed that the transfer cranes and the yard tractor/trailers are used to handle containers in the marshaling yard. The system is explained in terms of the functions of each subsystem and the data flows among various subsystems.

• Journal of Korea Port Economic Association
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• v.18 no.1
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• pp.27-41
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• 2002

This paper deals with the development of a simulation model for the container terminal, which consists of 3 berths, 8 container cranes, and 16 yard blocks with each yard crane and 90 yard trucks in order to evaluate the various operational rules. The proposed operational rules are 3 ship-dispatching rules, 3 berth allocation rules, 2 crane allocation rules, 2 yard allocation rules, and 2 yard truck allocation rules. These rules are simulated using 4 performance measures, such as ship time in the terminal, ship time in the port, the number of ships processed, and the number of containers handled. The simulation result is as follows: 1) there is no difference among 3 ship-dispatching rules, 2) berth allocation rules depend on performance measures, 3) dynamic crane allocation is better than fixed policy, 4) pooling yard allocation is better than short distance yard allocation rules, and 5) fixed yard truck allocation by berth is a little better than pooling policy.