• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1897-1900
• /
• 2004

In recent years, a lot of industrial equipments have serial communication channel such as FieldBus (CAN, Profibus, etc.) or Ethernet that provides real time communication between industrial equipments. Theses applications include gantry crane, robot, chip mounter, etc.. In this paper, we discuss the synchronization technique for networked multi-motor systems where controllers (commercial servo amps) are distributed and interconnected by CAN (Controller Area Networks). We first describe the equivalent model for the individual servo-amp and motor using the frequency response. We design the $H{\infty}$ controller for motion synchronization. Finally, the synchronization technique using the equivalent model and the $H{\infty}$ controller is verified by the simulation and the experiment.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2005년도 추계종합학술대회
• /
• pp.1071-1074
• /
• 2005

This paper suggests how can we guarantee terminal quality of service like ship waiting time ratio and ship residing time applying RFID(Radio Frequence IDentification) technology, raising up rapidly as a fundamental solution of new growing industry, to port information system. Also, lead time of whole port logistics can be decreased for reduction of loading & discharging time resulted from productivity improvement of G/C(Gantry Crane) and YT(Yard Tract) etc as applying RFID technology to terminal operation.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
• /
• pp.905-908
• /
• 1987

A human operator has the ability to control a complicated system such as a gantry crane, an aircraft and a remote manipulator after enough training and learning. In this article, we attempt the positioning experiment of a flexible arm by a human operator. Flexible arm has nonlinearlity and infinite-degrees of freedom in general; thus it is difficult to obtain a control input. The operator interprets a given task and finds the procedure of operations. He devises an effective way of achieving the goal on the basis of his experience and knowledge about the task.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 제38회 하계학술대회
• /
• pp.1634-1635
• /
• 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.

• 한국항해항만학회지
• /
• 제30권9호
• /
• pp.741-748
• /
• 2006

Number of researches on efficient terminal operation system applying RFID(Radio Frequency Identification) are in progress. However, RFID has limitations on tracking and providing accurate positions of containers. In this paper, to enhance the performance of the integrated terminal operation system, an efficient loading management of yard is proposed by applying RFID based RTLS(Real Time Locating System) that provides real time accurate positions of containers. It was found that a group based sequence system is more efficient than the existing individual sequence number system in the container yard In the group based sequence system, the containers in the same group should have similar characteristics such as port of destination(POD), size, weight, etc. In order to run this system, we proposed the parameters to the unspecified N bytes of RFID tag which are specified in ISO 18000 7. And then, we developed an integrated operation system of container terminal using RFID. The proposed system reduces the ship turnaround time in ubiquitous port environments.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2010년도 춘계학술대회
• /
• pp.276-277
• /
• 2010

본 논문은 RTGC 시스템의 에너지 절감을 위한 에너지 저장 시스템에 대해 다룬다. 에너지 저장 시스템으로는 배터리, 슈퍼캐패시터 그리고 플라이휠의 장정과 단점이 조사되었다. 이들 에너지 저장 시스템들 중 플라이휠 에너지 저장시스템은 현재 해결되어야 할 기술 및 가격적인 측면에도 불구하고 향후 기술의 발전을 전제를 뒀을 때 매우 촉망받는 에너지 저장시스템임이 조사되었다. 또한, 컨테이너 이송에 사용되는 RTGC에서 베터리와 플라이휠 에너지 저장 시스템이 각각 사용된 경우에 대해 에너지 절감에 대한 결과가 정량적으로 조사되었다.

• Journal of Electrical Engineering and Technology
• /
• 제8권1호
• /
• pp.137-143
• /
• 2013

This paper presents development of variable speed generation (VSG) system with energy saving function. The rubber tyred gantry crane (RTGC) requires the power from diesel-engine. Significant fuel savings by reducing the engine speed can be achieved, because all of operation modes except hoisting are required lower power than rated value of engine. When low speed operation output voltage of generator is decrease until acceptable range of motor driver inverters and auxiliary load supplier. According to power demand engine speed is varying from 20 to 60Hz, and voltage is varying between 210Vac and 480Vac. When idle mode or low power operation dc/dc converter operates by constant output voltage control and inverters dc site voltage is compensated by it. This paper proposed 3-phase interleaved boost converter which has the same structure as the commercially available 3-phase inverter and current sharing capability. 400kW interleaved converter is designed and a performance of converter is evaluated through several experiments with a RTGC system. Energy saving VSG system can cut down fuel consumption by 36% and 21.3% at idle and unidirectional load operations.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
• /
• pp.343-348
• /
• 2006

Number of researches on efficient terminal operation system applying RFID(Radio Frequency Identification) are on progress. However, RFID has limitations on tracking and providing accurate positions of containers. In this paper, to enhance the performance of the integrated terminal operation system, an efficient loading management of yard is proposed by applying RFID-based RTLS(Real Time Locating System) that provides real-time accurate positions of containers. We found that a group-based sequence system is more efficient than the existing individual sequence number system in the container yard. In the group-based sequence system, the containers in the same group should have similar characteristics such as port of destination(POD), size, weight, etc. In order to run this system, we have proposed the parameters to the unspecified N bytes of RFID tag which are specified in ISO 18000-7. And, this paper proposed a development of integrated operation system of container terminal using RFID for reducing the ship turnaround time in ubiquitous port environment.

• 한국항만경제학회지
• /
• 제18권2호
• /
• pp.109-133
• /
• 2002

The China entered World Trade Oganization(WTO) last year, thus opening its border to more - and freer - trade. With its foreign trade rapidly expanding and with economic growth continuing at a substantial -rate, China will be the largest container traffic generating country in the world. In the light of this potential trade bonanza, regional ports in North-East Asia strive to gain a competitive-edge. The Port of Busan, the world's third largest container port, wants to capture a significant share of the china's container cargoes. In this circumstance, development strategies of the Port of Busan are suggested as follows. First, to cope with increasing volumes, the New Busan Port on Gaduk island should be constructed without failure. Second, it is necessary to add modernized high-performance gantry cranes and to train crane operators' skill. Third, it needs to apply Dwell Time- Sliding Scale System for transshipment cargoes. Fourth, it needs to develop the EDI network in terminal areas or adjacent hub ports to exchange trustworthy and satisfactory informations Fifth, port authority -needs to enlarge designated Free Trade Zone to facilitate the free flow of cargoes. Sixth, the restoration of rail links between North and South Korea is abundantly clear. Thus it needs to enlarge railroad facilities in advance. Seventh, it needs to establish the Port Authority of Busan immediately. Finally, it needs to strengthen port sales and to open events like 'Marine Week 2001' regularly to attract potential canters or big shippers.

• 한국항만경제학회지
• /
• 제24권2호
• /
• pp.335-350
• /
• 2008

본 연구에서는 세계 주요 컨테이너항만의 항만서비스 공급변수를 이용하여 항만규모가 항만요율에 미치는 영향을 분석하고 있다. 항만서비스 수요와 항만요율과의 관계에 대한 연구사례는 있으나, 항만규모와 항만요율과의 관계에 대한 연구사례는 전무한 실정이다. 항만규모를 대변하는 공급변수로는 갠트리 크레인수 및 선석수, 선석길이, 터미널 면적, 컨테이너 장치용량 등 5개 변수를 고려하였다. 2001-2005년 기간동안 주요 항만의 항만요율과 항만간 규모변화의 추이를 비교분석하고, 항만규모와 항만요율 간의 관계를 회귀분석을 통하여 고찰하였다. 나아가서 항만 수요 및 공급변수를 동시에 고려한 회귀분석을 실시하여 항만 수요와 공급이 항만요율에 미치는 영향을 비교 분석하였다. 회귀분석을 통한 항만요율과 수요공급변수와 관계분석 결과를 요약하면 다음과 같다. 첫째, 전반적으로 항만요율의 결정에는 항만규모가 클수록 가격이 낮아지고, 항만수요가 클수록 가격이 높아진다는 일반적인 경제원리가 작용하고 있는 것으로 나타났다. 둘째, 항만 규모의 확대가 항만요율을 높이는 요인으로 작용하기도 하는데, 이는 항만이 다른 재화나 서비스와는 달리 독점적 특성이 있고 또 항만시설을 위한 막대한 고정투자비 회수 등의 이유 때문인 것으로 보인다. 셋째, 수요의 증가는 일관성 있게 항만요율을 높이는 것으로 나타나 항만요율은 공급측면보다는 수요측면의 영향을 더 많이 받는 것으로 분석되었다.