• Journal of Navigation and Port Research
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• v.29 no.2
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• pp.135-140
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• 2005

In this paper, we propose a human model for analysing the human work pattern or human fault, where a gantry crane simulator is used to survey the property cf human operation From the input and output cf gantry crane response, we make a human operation model by using conventional ARX identification method To identify the human model, we assume the eight inputs and two outputs. By using the achieved input/output data, we estimate the parameters of ARX for the human work model. To verify the proposed method, we compared the real data with the modeled data, where three kinds of work trajectory path are used.

• Journal of Ocean Engineering and Technology
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• v.20 no.5 s.72
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• pp.57-62
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• 2006

The most important thing in acontainer terminal is to handle the cargo effectively in the limited time available. To achieve this objective, many strategies have been introduced and applied. To create an automated container terminal, it is necessary for the cargo handling equipment to be equipped with more intelligent control systems. From the middle of the 1990's, automated rail-mounted gantry cranes (RMGC) and rubber-tired gantry cranes (RTG) have been widely used to handle containers in yards. Recently, many pieces of equipment, like CCD cameras and sensors, have beenmounted in these cranes to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes, which allow for more effective cargo handling in yards. For this purpose, the modeling, tracking control, anti-sway system design, skew motion suppressing, and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modeling and a new tracking control approach are discussed, and an experimental study is performed based on a two-degree-of-freedom (2DOF) servosystem design.

• Journal of Korean Port Research
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• v.2 no.1
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• pp.29-73
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• 1988

Since the middle of 1950's when sea transportation service by container ship was established, containerization has been rapidly spread over the world with realization of intermodalism, and becomes an index of economy growth of a country. Our country has established Pusan Container Terminal at Pusan harbour in 1978 in step with worldwide trend of containerization, and is constructing New Container Terminal at Pusan outharbour which will be completed in 1990. This paper aims to make a quantitative analysis of the Pusan Container Terminal system through the computer simulation, especially focusing on its subsystems such as ship stevedoring system, storage system and transfer system. First, the capacity of various subsystems are evaluated and it is checked whether the current operation is being performed effectively through the computer simulation. Secondly, the suggestion is presented to improve the operation by considering the throughput that Pusan Container Terminal will have to accept until 1990, when New Container Terminal will be completed. The results are as follows ; 1) As the inefficiency is due to the imbalance between various subsystems at Pusan Container Terminal on the basis of about 1.2 million TEU of container traffic, transfer equipment level must be up to 33% for transfer crane, and free period must be reduced into 4/5 days for export/import. 2) On the basis of about 1.4 million TEU of container traffic, transfer equipment level must be up to $12\%$ for gantry crane, $11\%$ for straddle carrier and $66\%$ for transfer crane, and free period must be reduced into 3/4 days for export/import. 3) On the basis of about 1.7 million TEU of container traffic, transfer equipment level must be up to $25\%$ for gantry crane, $28\%$ for straddle carrier and $100\%$ for transfer crane, and free period must be reduced into 3/4 days for export/import. 4) On the basis of about 2 million TEU of container traffic, transfer equipment level must be up to $25\%$ for gantry crane, $30\%$ for straddle carrier and $110\%$ for transfer crane, and free period must be reduced into 2/3 days for export/import, and it is necessary to enlarge storage yard.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.159-167
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• 2000

During the operation of crane system in the container yard, it is necessary to control the crane trolley position so that the swing of the hanging container is minimized. Recently an automatic control system with high speed and rapid transportation is required. Therefore, we designed a controller to control the crane system with disturbances and weight change. In this paper, we present the neural network two degree of freedom PID controller to control the swing motion and trolley position. Then we executed the computer simulation to verify the performance of the proposed controller and compared the performance of the neural network PID controller with our proposed controller in terms of the rope swing and the precision of position control. Computer simulation results show that the proposed controller has better performances than neural network PID with disturbances.

• Journal of Power System Engineering
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• v.2 no.1
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• pp.73-79
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• 1998

In practical fields, the sway of crane systems leads to extra stress to the crane structure during the transporting operation and it is in close connection with its life. Usually, when we operate the cranes with high speed and manual control, the sway motion is irreducible. In this paper, a new type of crane system is proposed to avoid the irreducible sway of the crane systems. The proposed system is composed of mechanical arm with function of anti-sway based on conventional line system. By the anti-sway arm, we can realize to prevent the sway of the container box but cannot avoid the oscillation for the overall body of the crane. So, a controller design method to solve the above stated problem must be considered. The problem is solved by adopting the velocity pattern control methods of trapezoidal and curve types and its effectiveness is proved through experimental results.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.11a
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• pp.317-322
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• 2004

In this study the structural design of conveyor frame was carried out for the high efficiency gantry crane which can improve the productivity of the container transportation job by reducing cycle time. When the gantry crane was operated, the conveyor frame was deflected largely by its deadload and the total weight of containers placed on it. Therefore thicknesses of conveyor frame to minimize its deadload were designed by the size optimization using ANSYS program as the bending stress and the deflection of frame due to this simulation satisfied their required values.

• Journal of Navigation and Port Research
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• v.28 no.10 s.96
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• pp.941-946
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• 2004

In this study the structural design of conveyor frame was carried out for the high efficiency gantry crane which can improve the productivity of the container transportation work by reducing cycle time. When the gantry crane was operated, the conveyor frame was deflected largely by its deadload and the total weight of containers placed on it. Therefore thicknesses of conveyor frame to minimize its deadload were designed by the size optimization using ANSYS program as the bending stress and the deflection cf frame due to this simulation satisfied their required values.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.64-64
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• 2000

The contributing proportion of the increase of port productivity is more increasing concerning not only the port industry, but also all the informations of container crane which is the representative equipment by the rapid increase of the volume of freight of port. The basic of rapid service is the improvement of the productivity, the information of operation as to the productivity of crane for the quick handling within yard and especially the informations of breakdown and to handle breakdown as soon as possible has a great effect on the increase of productivity.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.197-205
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• 2000

Productivity of container cranes and gantry cranes is influenced by the performance of crane hardware and cycle time. Cycle time in container handling is influenced by the path of containers and relative positioning of containers. So we have to minimize the sway of containers and spreaders to minimize relative positioning time. And sway minimization is influenced by the skill of workers in manual gantry cranes. In this paper, we will survey some anti-sway systems. Each system has some merits and some shortages. And we will show our choice and its experimental equipment which is under construction.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2474-2479
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• 2005

The control objectives in this paper are to move the gantry of a container crane to its target position and to suppress the transverse vibration of the payload. The crane system is modeled as an axially moving nonlinear string equation, in which control inputs are applied at both ends, through the gantry and the payload. The dynamics of the moving string are derived using Hamilton's principle. The Lyapunov function method is used in deriving a boundary control law, in which the Lyapunov function candidate is introduced from the total mechanical energy of the system. The performance of the proposed control law is compared with other two control algorithms available in the literature. Experimental results are given.