• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1365-1370
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• 2004

In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and its maintenance is easy. However, it gives almost the same performance. Various observers for estimating the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of the rail-mounted quayside crane is constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the pilot crane constructed. Experimental results are provided.

• Proceedings of the IEEK Conference
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• 2002.07b
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• pp.1224-1227
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• 2002

In this paper, we propose a composition method of the template image whose detection performance does not have incorrect detection and improves also on the tough photography conditions of the outdoors, rainy weather and night. This research was done to measure a relative position between a spreader and a target container with image processing to realize full-automatic quayside gantry cranes. By the proposal method, we confirmed that the template image for object detection has a contour image more effective than a gray image.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.435-449
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• 2004

In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of a rail-mounted quayside crane was constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the constructed pilot crane. Experimental results are provided.

• Journal of Navigation and Port Research
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• v.30 no.4
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• pp.285-290
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• 2006

Shipping companies consider most of the ship turnaround time as a critical factor when selecting a rolling port for reducing costs. So, many researchers have been studying for the optimization of preplanning and high~performance of the Gantry Cranes (GCs) in container terminals for faster loading and unloading. Therefore, in this paper, we propose an RFID (Radio Frequency Identification) based RTLS (Real-Time Location System) for reducing the ship turnaround time in ubiquitous port environment. In addition, pre-planning based on ubiquitous computing environment will support the GC and Yard Tractors (YTs), and reduce ship turnaround time more effectively. Especially, the proposed method enormously enhances the productivity of loading for the twin-lift system It will reduce the whole lead-time in the process of port logistics.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2461-2463
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• 1998

The container crane is more expensive than other cranes, and is designed for efficient use. Since there are more control variables than other crane has more fault factors. Therefore it is important to reduce these factors efficiently and also to increase the capacity to move more freight in due time. To solve the above problems the velocity relation of the motor will be examined. In this paper the velocity relation of the motor will be expressed in a mathematical equations for efficient control.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2567-2568
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• 2000

The container crane is more expensive than other cranes, and is designed for efficient use. Since there are more control variables than other crane has more fault factors, Therefore it is important to reduce these factors efficiently and also to increase the capacity to move more freight in due time. To solve the above problems the velocity relation of the motor will be examined. In this paper, the velocity relation of the motor will be expressed in a mathematical equations for efficient control.

• Industrial Engineering and Management Systems
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• v.10 no.4
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• pp.255-263
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• 2011

During the design process of a terminal, the handling capacity of a container yard needs to be evaluated in advance. This study suggests formulas for estimating the expectations and the variances of cycle times for various types of operations of a yard crane. Statistical analysis is used to estimate the expectations and variances. The main focus of this study is to show the impact of interdependencies among handling time elements on the expectation and variance of the cycle times; these interdependencies have not been considered in previous studies. Numerical experiments are done for evaluating the difference in the variance of cycle times and the waiting of trucks between the cases with and without the consideration of interdependencies.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.228-229
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• 2007

Container cranes are vulnerable structure to difficult weather conditions because there is no shielding facility to protect them from high wind This study carried out to analyze the wind load have an effect on container crane according to a wind direction variation The container crane for this research is a model of a 61-ton class tint used broadly in the current ports. The dimension of an external fluid field set up 500m ${\times}$ 200m. In this study, Mean wind load conformed to the 'Design Criteria of Wind Load' in 'Load Criteria of Building Structures' and an external fluid field divided in interval of 10 degrees to analyze effect according to a wind direction From there, we carried out to the computation fluid dynamic analysis using a CFX-10 Therefore as consequence of computation fluid dynamic analysis and wind velocity experiment make a comparative study, we analyzed a wind load for construction design if container crane.

• Journal of Navigation and Port Research
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• v.32 no.3
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• pp.251-255
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• 2008

Container cranes are vulnerable structure about difficult weather conditions bemuse there is no shielding facility to protect them from the strong wind. This study was carried out to analyze the wind load which have an effect on container crane according to the various wind direction. The container crane is a model of a 61-ton class that used broadly in the current ports. The external fluid field was figured as a cylinder which was set up $500m{\times}200m$. In this study, we applied mean wind load conformed to 'Design Criteria of Wind Load' in 'Load Criteria of Building Structures' and an external fluid field was divided as interval of 10 degrees to analyze effect according to a wind direction In this conditions, we carried out the computation fluid dynamic analysis using the CFX-10. As we compared computation fluid dynamic analysis with wind tunnel test, we analyzed the wind load which was needed to design the container crane.

• Journal of Navigation and Port Research
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• v.35 no.1
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• pp.71-76
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• 2011

Recently, container terminal managers make an experiment on the double cycle and dual cycle operation, which ship loading and unloading were carried out simultaneously, for increasing the productivity of quay side. If, however, we make an experiment on dual cycle operation in a real job site, the efficiency is poor up to terminal operation method as YTs(Yard Tractors)' allocation method, QCs(Quay Cranes)' working speed, and position of export containers. Especially, using the existing yard operation method, it is difficult to support to dual and double cycle operation. Therefore, this paper examine more efficient terminal operation method, when terminal uses dual cycle operation. We developed a simulation model using simulation analysis software, Arena.