• International Journal of Naval Architecture and Ocean Engineering
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• 제10권1호
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• pp.95-102
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• 2018

This paper proposes a dual lifting and its cooperative control system with two different kinds of floating cranes. The Mega-erection and Giga-erection in the ship building are used to handle heavier and wider blocks and modules as ships and off-shore platforms are enlarged. However, there is no equipment to handle such Tera-blocks. In order to overcome the limit on performance of existing floating cranes, the dual lifting is proposed in this research. In the dual lifting, two floating cranes are well-coordinated to add up the lift capabilities of both cranes without any loss such that virtually a single crane is lifting, maneuvering and unloading. Two main constraints for the dual lifting are as follows: First, two barges of floating cranes should be constrained as a rigid body not to cause a relative motion between two barges and main hooks of the two cranes should be controlled as main hooks of a single crane. In order words, it is necessary to develop the cooperative control of two floating cranes in order to sustain a center of gravity of the module and minimize the tilting angle during the lifting and unloading by the two floating cranes. Two floating cranes are handled as a master-slave system. The master crane is able to gather information about all working conditions and make a decision to control the individual hook speed, which communicates the slave crane by TCP/IP. The developed control system has been embedded in the real floating crane systems and the dual lifting has been demonstrated five times at SHI shipyard in 2015. The moving angles of the lifting module are analyzed and verified to be suitable for hoisting control. It is verified that the dual lifting can be applied for many heavier and wider blocks and modules to shorten the construction time of ships and off-shore platforms.

• 해양환경안전학회지
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• 제27권4호
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• pp.465-473
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• 2021

과거부터 선박은 국적을 표시하기 위한 수단으로 국기를 게양하여 왔다. 선박에서의 국적은 선박의 관할권에 관한 사항으로 그 의미가 중요하기 때문에 국내외적으로 선박 국적 및 국기 게양과 관련된 법령이 제정되어 있다. 그럼에도 불구하고, 선박의 국기 게양과 관련하여 국내외 규정에 상이점이 존재하고, 의도에 상관없이 국기 게양이 되지 않았을 경우 해당 선박을 무조건 무국적 선박으로 간주할 것인지에 대한 해석의 차이가 발생할 소지가 있다. 하지만, 선박의 국적 표시 필요성에 대해서는 국내외적으로 이견이 존재하지 않는다. 이에, 항해하는 선박에서 유일하게 외부로 국적을 나타낼 수 있는 방법으로 사용하고 있고, 규정화되어 있는 국기 게양과 더불어, 선박 무인화, 고속화 및 대형화 등의 시대적인 상황을 반영, 무선통신장비 등을 활용하여 선박의 국적을 표시하고, 확인할 수 있는 방안을 제안하고자 한다. 대표적으로 선박의 법정 설치 장비인 자동식별장치(AIS)를 활용하는 방안인데, 자동식별장치 정보에 국적 정보를 포함시키도록 하는 방안이다. 자동식별장치에 국적 정보가 포함된다면 보다 조기에 그리고 원거리에서도 국적 식별이 가능하고, 국기 게양을 하지 않거나 게양된 국기가 훼손되어 국적이 식별되지 않는 상황은 발생하지 않을 것으로 판단된다. 또한, 향후 선박의 무인화가 이루어졌을 경우에 국적 표시 문제도 해결될 수 있을 것으로 기대된다.

• 한국전산구조공학회논문집
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• 제26권4호
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• pp.247-254
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• 2013

본 논문에서는 해상 시추작업을 위한 heave compensation system의 시뮬레이션 모델을 개발하였다. 우선 시뮬레이션을 위하여, 다물체계 동역학 커널을 개발하였다. 다물체계 동역학 커널은 입력 받은 heave compensation system 시뮬레이션 모델의 운동학적 정보를 이용하여 recursive Newton-Euler formulation 방법을 기반으로 운동방정식을 자동으로 구성하고, 수치적으로 해를 계산하는 기능을 한다. 그리고 해상 시추선에 작용하는 외력을 계산하기 위하여 유체 정역학적 힘과 유체 동역학적 힘을 계산하는 모듈을 개발하였다. 이와 같이 개발한 커널과 모듈들을 적용하여 해상 시추선의 hoisting system 동적거동 해석을 수행하고, 관절에서의 구속력을 계산하였다.

• Journal of Advanced Research in Ocean Engineering
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• 제1권2호
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• pp.85-93
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• 2015

The nonlinear time-domain analysis method was implemented to carry out a series of integrated simulations for a deep-water crane vessel system composed of four sub components, including a floating vessel, lifted equipment, hoisting cable and dynamic positioning (hereinafter DP) system. The analysis of the coupled dynamics consists of the crane vessel and equipment connected using the crane wire, and the DP is modeled according to the wind, wave and current conditions. The DP systems were numerically implemented using a classical PD feedback controller, and various simulations of the deepwater installation were conducted using different conditions in order to evaluate the global performance of the floating crane vessel combined with the DP system.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2002년도 학술대회논문집
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• pp.281-286
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• 2002

An existent hoist drive system is using each different drive equipment in control of Hoisting, traveling(T/L), traversing(T/S) driving, so there are much energy losses because of excessive weight. Also, power circuits are using relay contact, so working environment are frequent secession accident etc.. by shock on unfavorable condition, and there is danger of safety accident, maintenance has frequent problem and so on. To solve these problem, it is integrated each driving power supply in drive system for hoist control and drive, utility power supply etc.. by single device in this research. The power circuit is consisted of non-contact circuit applying to bidirectional voltage controller circuit using thyristor that is power semiconductor switching device

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.283-283
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• 2000

In this paper, we deals with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry crane's characteristics, the system is decentralized into two subsystems such as the travelling and sway subsystem, and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using observability canonical form. The decentralized subsystems include unknown input which coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques and those estimated values are used to construct an input compensation form. Lastly, the proposed decentralized control scheme far the gantry crane systems is verified by crane simulation.

• 제어로봇시스템학회논문지
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• 제7권4호
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• pp.281-287
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• 2001

In this paper, we deal with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry cranes characteristics, the system is decentralized into two subsystems, the travelling and swaying subsystem and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using the observability canonical form. The decentralized subsystems include unknown inputs that one coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques. And those estimated values are used to construct an input compensation form. Finally, the proposed decentralized control scheme for the gantry crane systems is verified by crane simulation.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 전력전자학술대회 논문집
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• pp.280-283
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• 2001

The crane operates in three directions, hoisting, traversing, and travelling motion. In this study, an AC drive system for these motions of the crane is developed and tested. The command from an operator is transmitted to PLC, which sends data to a main controller by fieldbus protocols such as Profibus or Devicenet. And the main controller is connected to other auxiliary ones by CAN bus. The each controller, which has the same structure, regulates its motor speed from the operator's command.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2514-2518
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• 2003

The KAERI Spent Fuel Remote Technology Development (SFRTD) Department is developing the remote maintenance and repair equipment, which is used in a hot cell in an intense radiation field, as part of a project to develop the Advanced spent fuel Conditioning Process (ACP). Although several mechanical master-slave manipulators (MSMs) is mounted on the hot cell wall, their reach will be limited and cannot access areas for all the ACP equipment maintenance. A Bridge Transported ServoManipulator (BTSM) has been designed to overcome the limitation of access areas that is a drawback of MSMs for the ACP equipment maintenance. The BTSM system consists of four components: a transporter with telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. The BTSM system has been designed by Solid Edge that is a 3D computer-aided design (CAD) software, except for the remote control system. The master manipulator and the slave manipulator are kinematically similar in design, except for the handle and the tong, respectively. The manipulators have 6 degrees of freedom (DOF) plus the jaws motion. The transporter has traveling, traverse, and hoisting motion to position the slave manipulator.

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