• Industrial Engineering and Management Systems
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• v.9 no.2
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• pp.178-194
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• 2010

To improve the ship operation in automated container terminals, it is important to schedule different types of handling equipment to operate synchronously. For example, a vehicle with container receiving and lifting capabilities is used to transport containers from a storage yard to a vessel and vice versa, while a triple quay crane (QC) can handle up to three 40-ft containers simultaneously. This paper discusses the manner in which vehicles should be assigned to containers to support such multi-lifts of QCs by using information about the locations and times of deliveries. A mixed-integer programming model is introduced to optimally assign delivery tasks to vehicles. This model considers the constraint imposed by the limited buffer space under each QC. A procedure for converting buffer-space constraints into time window constraints and a heuristic algorithmfor overcoming the excessive computational time required for solving the mathematical model are suggested. A numerical experiment is conducted to compare the objective values and computational times of the heuristic algorithm with those of the optimizing method to evaluate the performance of the heuristic algorithm.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1634-1635
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• 2007

본 논문은 갠트리 크레인의 시뮬레이터를 제작하여 적응형 흔들림 제어기를 설계한다. 흔들림 감지는 디지털 카메라 센서를 이용하였으며 모델기반 적응제어를 이용하여 제어규칙을 산출한다. 제어규칙은 리아푸노브 안정성이론을 적용하였으며 정의된 리아푸노브 함수의 미분식이 음수를 갖기 위한 크레인의 적응형 제어입력을 계산한다. 제안한 제어기의 성능을 검토하기 위하여 실시간 제어실험을 실시하였으며 이송체의 무게 변화에 대한 적응성을 검토한다. 또한 기존의 PI 제어기도 함께 실험하여 성능의 비교 검토한다.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.940-948
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• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.

• Journal of Ocean Engineering and Technology
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• v.21 no.4
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• pp.45-54
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• 2007

In the context of auto-landing containers from a container ship to a truck or automatic guided vehicle and vice versa, this research investigates three schemes, one in Part I and two in Part II, for measuring the absolute position of a container. Coordinate transformations between the reference-coordinate, sensor-coordinate, and body-coordinate systems are briefly discussed. The scheme explored in Part I aims the use of three laser-slit sensors, which are relatively inexpensive. In this case, nine nonlinear equations are formulated for six unknown variables (three for orientation and three for position), so a closed-form solution is not available. Instead, an approximate solution through linearization was derived. An advantage of the method in Part I is its ability to measure an absolute position in 3D space, while a disadvantage is the computation time required to obtain pseudo-inverses and the approximate nature of the obtained solution. Numerical examples are provided.

• IE interfaces
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• v.16 no.3
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• pp.332-343
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• 2003

This paper deals with pre-erection scheduling and erection scheduling in shipbuilding. Among shipbuilding scheduling, the ship erection scheduling in a dock is one of the most important since the dock is the most critical resource in a shipyard. However, it is more reasonable to consider pre-erection scheduling and erection scheduling as unified because they compete with the common constrained resources such as labor, crane, space, and so on. It is very hard to consider two scheduling problems simultaneously, and hence, we approach them sequentially. At first, we propose space resource leveling heuristics in pre-erection scheduling given erection date. And then, considering the manpower resource determined by pre-erection scheduling, we also propose manpower resource leveling heuristics in erection scheduling. Various experimental results with real world data show that the proposed heuristics have good performance in terms of scheduling quality and time.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.6
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• pp.566-571
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• 2010

EPS (Electric Power Steering) is important device for improving vehicle's dynamics and static performances. This paper deals with simulator design for C-EPS (Colum type-EPS), development assist and returnability control algorithm. First, C-EPS system model was simply designed because EPS system is complex control system that has many unknown variables. These parameters were simplified through assumptions. Second, C-EPS simulator was designed for development of control algorithm. This simulator has SAS (Steering Angle Sensor), dual torque sensor, dual load cell for measuring rack force, dual linear actuator for generating tire force and Data Acquisition System. Using this simulator, control methods ware tested. Third, control algorithm was designed for torque assist and returnability. Assist torque map and returnability torque map were found by lots of simulation test. These torque maps were tuned for EPS actuator control. The simulation result was compared with non-EPS system result. In this research, the C-EPS simulator was designed for development of control algorithm about torque assistant and returnability. Using this simulator, control algorithm was improved.

• Journal of the Korea Institute of Building Construction
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• v.12 no.3
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• pp.358-368
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• 2012

On most construction sites, the arrangement of tower cranes is decided by site engineers based on their own experience, which can cause cost overruns and delays in the lifting work. Although many researchers have conducted studies on tower crane arrangement using computer modeling and knowledge-based expert systems as well as mathematical models, no research has aimed to develop an algorithm to identify an optimum solution among several alternatives for installation areas of tower cranes satisfying the conditions of lifting work. The objective of this study is to develop an automatic arrangement algorithm for tower cranes used in high-rise apartment construction. First, as a new concept, a possible installation area of tower cranes was suggested. Second, after proposing several alternatives based on the installation points suggested in this study, an algorithm analyzing the economic feasibility of tower cranes was developed considering the rental, installation and removal costs. Third, a case study was conducted to prove the validity of the developed algorithm for selecting and installing an effective set of tower cranes at minimum cost.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.198-204
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• 2011

Recently, several problems have occurred in the space, infra-structure, and facility of the contiguity of existing harbors due to the trend of enlarged container vessels. In this regard, the Mobile Harbor has been proposed conceptually in this study as an effective solution for these problems. The concept is that of a transfer loader that transfers containers from a large container ship to the harbor on land, and is a catamaran type floating barge. The catamaran-type vessel is well known for its advantage in maneuverability, resistance, and effectiveness for working on board. For the safe and effective operation of the two floating bodies (a container ship and the mobile harbor in the near sea detached from the quay), robot arms, novel crane systems, and pneumatic fenders are specially devised with an additional mooring facility or DP (dynamic positioning) system. In this study, this concept is to be verified through comparison and simulation studies under various environmental conditions. It is shown that the proposed concept is in general feasible but there are several areas for further investigation and improvement.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.4
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• pp.189-197
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• 2003

The problem of designing a parallel feedforward compensator (PFC) is considered for a class of non-square linear systems such that the closed-loop system is strictly passive. If a given square system has (vector) relative degree one and is weakly minimum phase, the system can be rendered passive by a state feedback. However, when the system states are not always measurable and the given output is considered, passivation (i.e. rendering passive) of a non-minimum phase system or a system with high relative degree cannot be achieved by any other methodologies except by using a PFC. To passivate a non-square system we first determine a squaring gain matrix and design a PFC such that the composite system has relative degree one and is minimum phase. Then the system is rendered strictly passvie by a static output feedback law. Necessary and sufficient conditions for the existence of the PFC and the squaring gain matrix are given by the static output feedback formulation, which enables to utilize linear matrix inequality (LMI). As an application of the scheme, an alternative way of replacing the role of velocity measurements is provided for the PD-control law of a convey-crane system.

• Industrial Engineering and Management Systems
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• v.15 no.1
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• pp.19-31
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• 2016

A design method of the network for automated transporters mounted on rails is addressed for automated container terminals. In the network design, the flow directions of some path segments as well as routes of transporters for each flow requirement must be determined, while the total transportation and waiting times are minimized. This study considers, for the design of the network, the waiting times of the transporters during the travel on path segments, intersections, transfer points below the quay crane (QC), and transfer points at the storage yard. An algorithm, which is the combination of a modified Dijkstra's algorithm for finding the shortest time path and a queuing theory for calculating the waiting times during the travel, is proposed. The proposed algorithm can solve the problem in a short time, which can be used in practice. Numerical experiments showed that the proposed algorithm gives solutions better than several simple rules. It was also shown that the proposed algorithm provides satisfactory solutions in a reasonable time with only average 7.22% gap in its travel time from those by a genetic algorithm which needs too long computational time. The performance of the algorithm is tested and analyzed for various parameters.