• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 춘계학술대회 논문집
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• pp.633-637
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• 2011

선박에 설치된 크레인은 일반적으로 기둥의 높이가 높고 상대적으로 가는 진동에 취약한 장비이다. 선박 크래인 운전중 비상사태가 발생하여 브레이크를 사용하면 갑작스러운 충격하중에 의해 크레인 포스트에 과도한 진동이 발생하기도 한다. 이러한 진동에 의한 크레인의 안전성을 평가하는 것이 본 연구의 목적이다. 본 연구에서는 크레인의 비상정지시 발생하는 충격력을 추정하고 이러한 충격력을 이용하여 크레인에서의 응답과 스트레스에 의한 피로수명을 예측하였다.

• 대한기계학회논문집A
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• 제34권4호
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• pp.501-509
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• 2010

해상크레인은 크레인을 탑재한 선박으로서, 조선소에서 대형 블록이나 구조물의 탑재 및 해상 운송 작업에 사용된다. 본 논문에서는 해상크레인과 중량물의 전후 동요(Surge), 상하 동요(Heave), 종 동요(Pitch)에 대한 정적/동적거동을 분석하였다. 이 때, 유연 다물체계 동역학을 적용하여 해상크레인의 붐(boom)을 탄성으로 고려하였으며, 플로팅 프레임(floating frame)과 노드 좌표(nodal coordinates)를 사용하였다. 질량 행렬, 탄성 강성 행렬, 2 차 속도 벡터, 일반화 좌표 방향으로 작용하는 외력 등을 고려하여 모든 운동이 연성된 비선형 운동 방정식을 구성하였다. 외력으로는 비선형 유체정역학 힘, 선형화된 유체동역학 힘, wire rope 힘, 계류력이 고려되었다. 수치 해석을 위해 Hilber-Hughes-Taylor 방법을 비선형 운동방정식에 적용하였다. 정적 거동 분석을 통한 정적 평형 자세를 고려한 경우와 고려하지 않은 경우에 대해 결과를 비교하였으며, 수치 해석 방법에 대한 정적/동적 거동 분석 결과를 비교하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1404-1409
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• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.

• 수산해양기술연구
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• 제56권1호
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• pp.61-70
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• 2020

In this study, system modeling and dynamic analysis of crane are conducted. Especially, among many different kinds of a crane system, the issues on crane operating problems installed on the vessel are considered. As well known, marine systems including cranes are exposed to various disturbances such as vessel motions, hydrodynamic forces, wave and wind attack, etc. In order to analysis the system dynamic with environmental conditions, the authors derived the nonlinear dynamic model of offshore crane and derived a linear model which is used for designing the control system. Using the obtained nonlinear and linear models, simulations were conducted to evaluate the usefulness of the obtained models. By simulation and result evaluation, the usefulness of the linear model, which presents the dynamics, is effectively verified.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2013년도 춘계학술대회
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• pp.132-133
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• 2013

선박 인양크레인은 선박을 안전하게 인양하기 위한 장비로서 이러한 형태의 크레인은 조선소의 대형 선박이나 항만 컨테이너 등에서 많이 사용되고 있다. 이와 같은 인양크레인은 육상에 설치되어 운용되고 이를 사용하기 위해서는 항만시설이 구축되어야 한다. 이 논문에서는 부유식 인양크레인의 운동응답특성과 파 강제력을 산출하고 부유식 인양크레인의 구조응답 평가를 수행하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1998년도 추계학술대회논문집:21세기에 대비한 지능형 통합항만관리
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• pp.167-174
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• 1998

Recently several researches of high speed container ship and loading system are mainly accomplished in U.S.A. and Japan. Its shipping service is not realized but it is realized in near future. To effective use of the feature and efficiency of them, quay, loading/unloading. yard operation system, port management system and connection transport system must be well integrated and operated. Specially, loading /unloading speed of container crane is important for making effective use of them. To speed up loading/unloading system, RO-RO and LO-LO methods that are mostly exclusive system are studied on the container crane with special structure and mechanism to handle individual container or bundle of containers. In this paper these methods are shown. When new high speed loading system of container is desighed, the realistic constrains must be considered.

• 지능정보연구
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• 제14권3호
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• pp.77-86
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• 2008

본 연구에서는 터미널의 운영전략과 하역시스템의 다양한 속성들이 반영이 된 터미널의 하역생산성 추정모델을 제시하였다. 터미널 설계 시 고려되는 하역시스템 특성 및 장치장의 레이아웃을 고려한 다양한 요소들을 반영하여 실험하였으며 시뮬레이션을 이용하여 하역 생산성 자료를 수집하였다. 수집된 자료를 바탕으로 회귀분석을 통하여 모델의 유의성을 검증하였다.

• Journal of Ship and Ocean Technology
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• 제3권2호
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• pp.27-48
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• 1999

The paper is concerned with application to develop the expert system, which structural analysis and design process for tower cranes. The system is organized into three groups. One is pre-processor for creating input data files, another is `model former' which combines knowledge-base with inference engine for automatic generating structural analysis models, a third is application group for final analysis checks. In this study, geometric subroutine of `model former' designates node positions, nodes, elements numbers and element types. Load data subroutine computes weight of tower crane and device, slewing force, cargo load, wind force form rules or equations in knowledge-base. Also, Property and boundary subroutine applies element properties and boundary conditions to suitable elements and nodes. Design and analysis expert system for tower crane integrates these subroutine, `model former' and pre-processor. RBR(Rule-Base Reasoning) was adopted for a reasoning strategy of this expert system. And this expert system can produce structural analysis model and data, which can be used in ordinary structural analysis program (SAP, ADINA or NASTRAN, etc.). In this paper, this expert system produces format of the analysis model data, which are used in MSC/NASTRAN. The main discussions included in the paper are introduction of the tower crane and structural analysis, composition of the design expert system for tower crane and structural analysis using the expert system.

• 대한조선학회논문집
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• 제47권3호
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• pp.421-429
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• 2010

In this paper, in order to analyze the dynamic response of a floating crane when it lifts a heavy cargo, the boom of the floating crane is considered as an elastic beam. The boom is divided into elements based on finite element formulation and the floating frame of reference formulation and nodal coordinates are employed to model the boom as a flexible body. As an extension of the previous study, in order to consider spatial motion in waves, the coupled equations of motions of the 6 degree of freedom (DOF) floating crane and 6 DOF cargo are developed based on the flexible multibody system dynamics. The 3 dimensional deformation of the elastic boom is considered with 18 DOF. The dynamic simulation of the floating crane and the cargo is performed under regular wave conditions with various cargo weights. Finally, the effects of the elastic boom on lifting cargo are discussed by comparing the simulation results between the elastic boom and a rigid boom.

• 대한조선학회 특별논문집
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• 대한조선학회 2011년도 특별논문집
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• pp.5-11
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• 2011

In this paper, the dynamic response analysis of a floating crane with elastic booms and a cargo is performed. The objective is to consider the effects of the elastic boom in the lifting design stage. Governing equations of the motion for the system which consists of interconnected rigid and flexible bodies are derived based on the formulation of flexible multibody system dynamics. To model the boom as a flexible body, floating reference frame and nodal coordinates are used. Coupled surge, pitch, and heave motion of the floating crane with the cargo which has 3 degree of freedom is simulated by solving the equation numerically. Finally, the effects of the elastic boom for the lifting design that the floating crane is required to lift a heavy cargo are discussed by comparing the simulation result between with the elastic boom and with the rigid one.