• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.273-280
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• 1999

Yard cranes are very useful equipments for handing of heavy containers, But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. Therefore rope-driven yard cranes require skilled drivers to depress sway and skew motions. So many researches have been concentrated on anti-sway and anti-skew algorithm controlling trolley speed or rope tension. Although many efforts, the rope-driven method is not proper to an automated yard equipment because of sway and skew motion. This paper will propose a new concept yard crane which has a new structure, overcomes defects of rope-driven cranes and is proper to automation. And we will study its actuality

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.357-361
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• 1999

Currently, many research projects are focusing on automation of various equipment such as cranes and AGV's for automated container terminals. However, for more productivity of these terminals, integration of the required equipment is most crucial as proved in Computer Integrated Manufacturing (CIM). The integration requires information exchange via a type of network interconnecting various pisces of equipment. In order to better design such networks, this paper presents the requirements, available protocols, and basic network structure for an communication network in an automated crane terminal

• Journal of Korean Port Research
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• v.14 no.3
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• pp.313-319
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• 2000

In this paper, we proposed the model of wireless communication for ACTS using DSRC and the DSRC system for T/C. The proposed wireless communication model is how to join with DSRC and other wireless communication in port. The DSRC system for T/C is the first application to the unit of port Facilities Automation on stacking area. The DSRC system is communicated between OBE and RSE using 5.8Hz ISM band frequency. The previous works of DSRC applications are gate automation. In these cases, the road trackers are difficult to obtain information of the port in the stacking area. So we used the DSRC for the wireless communication for the port Facilities Automation. Using DSRC, the load trackers obtain more information in the port and contacts to ITS on back-roads of port. The proposed communication system is serviced to reelection of port statistics.

• Korean Journal of Construction Engineering and Management
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• v.9 no.2
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• pp.108-116
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• 2008

At present, construction automation is a critical solution for the shortage of labor and the aging of skilled workers. Especially, researches for transportation automation are achieved to improve the efficiency as the construction of tall-building construction. Transportation automation needs to control the swung member by the inertia and/or the wind-force at the end of cable. However, previous to control, the presupposition of the swing is heavily difficult work because the inertia and the wind force are irregularly changable according to work condition. Therefore, in this study, dynamic modeling of crane and simulation was performed to find the characteristic of the swing. In the result, the maximum displacement of the swung material was analyzed. And, on the basis of analysis, the criteria to decide workability of automated transportation considering the material size and the wind force onsite was proposed.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.05a
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• pp.167-169
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• 2011

Construction Automation as a way to solve the problems of lack of skilled labor by decrease in construction population productivity and quality decrease. We are on the way to develop a construction automation system adequate for domestic circumstances in Korea; it is called RCA(Robotic-crane based Construction Automation) system. Climbing hydraulic robot system is a part of RCA system and makes Construction Factory(CF) climb next floor. The controller can control movement needs to be developed for CF safety. Synchronous control the actual field was applied to the controller logic and synchronous control of the process through which the safety has been verified. The purpose of this study that control of climbing hydraulic robot system behavior on real-time, and to improve safety for overall construction automation system through synchronous motion controller.

• Journal of Navigation and Port Research
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• v.29 no.3 s.99
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• pp.291-298
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• 2005

In this article. the specifications of a future container crane for a 18,000 TEU megaship are investigated After studying the transitions of containerships through the past half century, the characteristics of the past and current container cranes are outlined. together with various research trends throughout the world Upon these results, the size and performance of the container crane that will be used beyond the year 2014 are forecast. Specifically, the structure, trolley and hoist mechanism, control method, outreach. backreach, rail gage, loading capacity, stability, durability, and others are summarized.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.379-387
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• 2007

In this paper, a nonlinear anti-sway controller for container cranes with load hoisting is investigated. The considered container crane involves a planar motion in conjunction with a hoisting motion. The control inputs are two (trolley and hoisting forces), whereas the variables to be controlled are three (trolley position, hoisting rope length, and sway angle). A novel feedback linearization control law provides a simultaneous trolley-position regulation, sway suppression, and load hoisting control. The performance of the closed loop system is shown to be satisfactory in the presence of disturbances at the payload and rope length variations. The advantage of the proposed control law lies in the full incorporation of the nonlinear dynamics by partial feedback linearization. The uniform asymptotic stability of the closed-loop system is assured irrespective of variations of the rope length. Simulation and experimental results are compared and discussed.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.4
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• pp.64-72
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• 2004

In this paper, the dynamic stability of a hydraulic excavator using ZMP concept is considered. When a load is moved in an excavator based on automation, an excavator often loses the stability and falls over. This is because a dynamic element is not included in the moment equilibrium equation that is used in order to judge a reversal. Consequently, reversal distinction algorithm including all a static and a dynamic element along a load movement in crane work is necessary. Zero Moment Point(ZMP) is a point on the floor where the resultant moment of the gravity, the inertial force of the manipulator and the external force is zero. This study is going to interpret the reversal stability of the excavator to which is applied ZMP concept through simulation.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.86-92
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• 2003

The hydraulic excavator has been a popular research object for automation because of its multi-workings and economic efficiency. When it works crane tasks, most of disasters happen. The stability of the excavator having crane function has a close relation with excavators posture, motion and load. In this paper, the stability of tipping-over has been analysed using zero Moment point(ZMP)

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.66.1-66
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• 2001

As choosing proper length of boom of container crane according as sort of vessels(18, 22, 24 columns and so on), reinforcing of capacity of DC motor to transport heavy loads, it´s structure being oversized with flexibility and durability, the study is progressing on the automation for convenient operation and effective control. We often cannot but work slowly caused by swaying(pitching, rolling) of vessel. We can get productivity and efficiency by getting over it. The factors of swaying, as fellow; - wave caused by vessels around moving - wind and wave caused by weather change - vessel´s moving by change of load weight - tide - move of vessel According to ...