• Industrial Engineering and Management Systems
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• v.11 no.1
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• pp.103-113
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• 2012

A yard in a container terminal is a temporary storage space before containers are loaded onto the target vessel or delivered to consignees. For improving the utilization of the space in the yard and the efficiency of loading and discharging operations, it is important that operation plans must be carefully constructed in advance. A heuristic method is suggested to solve operation space planning problems considering workloads on handling equipment as well as space availabilities. The operation plans in this paper includes quay crane (QC) schedules and space plans for multiple vessels considering the workload in the container yard of container terminals. This paper evaluates the effectiveness of a space planning method and the performance of a new QC scheduling method using a simulation model.

• Journal of the Korean Institute of Navigation
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• v.5 no.2
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• pp.99-108
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• 1981

As far as ship's cargo handling devicesareconcerned, the derrick system has been used comprehensively in the marine. Even though there are several new devices for ship's cargo gear, such as gantry crane, jib crane adn self unloader, the derrick system, with its improved rigging method, still retains its utmost reputations among ship's owners. Therefore the method of calculating the system's militating stresses in the course of cargo operation needs to be more convenient and analytical. Here the author attempts to introduce the calculating method of stresses by means of vector analysis. The calculating method is able to analyze the stresses acting in every part of the cargo gear systems, such as union purchase, slewing or its modified system.

• 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 ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.54.2-54
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• 2001

In this paper two control strategies, command shaping control and optimal control, which aim to the reduction of the residual vibrations of the payload in a container crane system are investigated. Both control methods are open loop control. Due to unmodeled dynamics of the plant and disturbances like initial sway and wind, some residual sway always exists at the end of trolley movement. Command inputs are designed to achieve the control objectives including minimal residual vibration and robustness in the presence of unmodeled dynamics. Simulation results of various command inputs are compared in terms of arrival time, residual sway angle, robustness, and maximum sway distance during the traveling. Command shaping method provides a more competent tool than optimal control.

• Ocean Systems Engineering
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• v.12 no.4
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• pp.413-437
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• 2022

An innovative concept for wet-transportation and stepwise installation of mono-bucket foundation for 15 MW offshore wind turbine is proposed. Case studies for two different mono-bucket and wrap-buoy dimensions are conducted and their hydrostatic and hydrodynamic performances are compared for both wet-towing and lowering operations. The intact stability and transient responses are analyzed in detail for various stages of lowering operation. Wave-induced motion statistics during wet tow in sea state 4 (highest operational window) are checked. The proposed concept is found to be feasible and can be an alternative cost-effective solution without using heavy-lift crane vessel in practice.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.892-896
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• 2011

This paper describes a camera-based position measurement system for automatic tracking control of a rubber Tired Gantry Crane (RTGC). An automatic tracking control of RTGC depends on the ability to measure its displacement and angle from a guide line that the RTGC has to follow. The measurement system proposed in this paper is composed of a camera and a PC that are mounted on the right upper between front and rear tires of the RTGC's side. The measurement accuracy of the system is affected by disturbances such as cracks and stains of the guide line, shadows, and halation from the light fluctuation. To overcome the disturbances, both side edges of the guide line are detected as two straight lines from an input image taken by the camera, and parameters of the straight lines are determined by using Hough transform. The displacement and angle of the RTGC from the guide line can be obtained from these parameters with the robustness against the disturbances. From the experiments with the disturbances, we found the accurate displacement and the angle from the guide line that have the standard deviations of 0.95 pixels and 0.22 degrees, respectively.

• Journal of Navigation and Port Research
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• v.34 no.6
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• pp.479-485
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• 2010

To handle container effectively is one of the most important factors in a port because working time is linked soon into cost. Since the middle of 1990s, RMGC(Rail-Mounted Gantry Crane) and RTGC(Rubber-Tired Gantry Crane) have been developed and widely used to operate containers in the yard. The RTGC is more difficult than RMGC in the automatic control system design. Although, the RTGC is largely advantaged to free driving environment, it has some considerable disadvantages in the system operating. In general, the problems are due to tire slip and lack of tire pressure etc. Therefore, a desirable research result has not been shown in this time. So, in this paper, we propose a new approach to design tracking control system for the RTGC in which the mathematical modeling is included. From the simulation results, the control performance of the designed control systems is evaluated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.5
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• pp.597-604
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• 2010

This study focuses on the design of a mechanical joint for a zero moment crane (ZMC), which is a specialized loading/unloading system used in a mobile harbor (MH). The mechanical joint is based on the concept of zero moment point (ZMP), and it plays an important role in stabilizing a ZMC. For effective stabilization, it is necessary to ensure that the mechanical joint is robust to a wide variety of loads; further, the joint must allow the structures connected to it to perform rotational motion with two degrees of freedom By adopting a traditional design process, we designed a new mechanical joint; in this design, a universal joint is coupled with a spherical joint, and then, deformable rolling elements are incorporated. The rolling elements facilitate load distribution and help in decreasing power loss during loading/unloading. Because of the complexity of the proposed system, Kriging-based approximate optimization method is used for enhancing the optimization efficiency. In order to validate the design of the proposed mechanical joint, a structural analysis is performed, and a small-scale prototype is built.

• Ocean and Polar Research
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• v.39 no.3
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• pp.205-211
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• 2017

This paper seeks to provide a dynamic analysis of a 150 ton winch based on ocean environmental data. The winch model that was subjected to analysis was modeled from CAD to each subsystem by the commercial software DAFUL. The winch model has tree brake systems (disk brake, band brake and ratchet brake). The rotation motion of the motor and contact elements of the brake are applied to the winch model in order to analyze its dynamic characteristics. In addition, a crane-barge was modeled to apply ocean environmental data. The motion data of the crane-barge was produced by means of the RAO(Response Amplitude Operator) of the barge and wave spectrum. The reaction force of the translational joint was measured instead of the tension of the cable. The brake performance of the winch was produced and assessed based on the operating motion of the crane-barge.

• Journal of Intelligence and Information Systems
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• v.6 no.2
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• pp.1-14
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• 2000

The berth and crane scheduling problem in a container terminal encompasses the whole process of assigning berth to each ship, determining the duration of berthing, assigning container cranes to each ship, and determining the specific start and end time of each crane service, for all the ships scheduled to be arriving at the terminal during a certain scheduling horizon. This problem is basically a constraint satisfaction problem in which cranes and berths should be assigned in such a way that all the spatial and temporal constraints are satisfied without any interference. However, it is also an optimization problem because the requested arrival and departure time should be met for as many of the scheduled ships as possible, while the operation cost of the terminal should be minimized. In this paper, we present an effective and efficient approach to solving this type of problem, which combines constrain satisfaction search and heuristic repair. We first employ a constraint satisfaction search to find a feasib1e solution. Then, the feasible solution is modified to a more optimal one by iteratively applying our heuristic repair operations within the framework of constraint satisfaction search. Experimental results with a real data from Pusan East Container Terminal showed that our approach can derive a schedule of satisfactory quality in a very short time.