• Title/Summary/Keyword: Port Automation

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Solution and Estimate to the Angular Velocity of INS Formed only by Linear Accelerometers

  • Junwei, Wu;Jinfeng, Liu;Yunan, Zhang;Na, Yuan
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.1
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    • pp.103-107
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    • 2006
  • At present, most efforts tend to develop a INS which is only based linear accelerometers, because of the low cost micro-machining gyroscopes lack of the accuracy needed for precise navigation application and possible achieving the required levels of precise for micro-machining accelerometer. Although it was known in theory that a minimum of six accelerometers are required for a complete description of a rigid body motion, and any configuration of six accelerometers (except for a "measure zero " set of six-accelerometer schemes) will work. Studies on the feasible configuration of GF-INS indicate that the errors of angular velocity resolved from the six accelerometers scheme are diverged with time or have multi solutions. The angular velocity errors are induced by the biases together with the position vectors of the accelerometers, therefore, in order to treat with the problem just mentioned, researchers have been doing many efforts, such as the extra three accelerometers or the magnetometers may be taken as the reference information, the extended Kalman filter (EKF) involved to make the angular velocity errors bound and be estimated, and so on. In this paper, the typical configurations of GF-INS are introduced; for each type GF-INS described, the solutions to the angular velocity and the specific force are derived and the characteristic is indicated; one of the corresponding extend Kalman filters are introduced to estimate the angular errors; parts of the simulation results are presented to verify the validity of the equations of angular velocity and specific force and the performance of extend Kalman filter.

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Using DGPS as An Acceleration Sensor for Airborne Gravimetry

  • Zhang, Kaidong;Shen, Lincheng;Hu, Xiaoping;Wu, Meiping
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.1
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    • pp.327-332
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    • 2006
  • In airborne gravimetry, there are two data streams. One is the specific force measured by an air/sea gravimeter or accelerometers, the other is kinematic acceleration measured by DGPS. And the difference of them provides the gravity disturbance information. To satisfy the requirement of most applications, an accuracy of 1mGal $(1mCal=10^{-5}m/s^{2})$ with a spatial resolution of 1km is the aim of current airborne gravimetry. There are two different methods to derive the kinematic acceleration. The generally used method is to differentiate the position twice, and the position can be calculated by commercial DGPS software. The main defect of this method is that integer ambiguities need to be fixed to get the precise position solution, but it's not a trivial thing for long base line. And to fix integer ambiguities, the noisier iono-free measurement is used. When differentiation is applied, noise is amplified and will influence the accuracy of acceleration. The other method is to get carrier phase acceleration by differentiate the carrier phase first, and then using the acceleration of GPS satellite to derive the vehicle acceleration. The main advantages include that fixing integer ambiguities is not needed anymore, position can be relaxed to about 10 meters, and smoother acceleration can be got since iono-free measurement is not needed. In some literatures, it's considered that the dynamic performance of the second method is inferior to that of the first. Through analysis, it is found that the performance degradation in dynamic environment results from the simplification of the GPS carrier phase observable model. And an iterative algorithm is presented to compensate the model error. Using a dynamic GPS data from an aeromagnetic survey, the importance of this compensation is showed at last.

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A Study of security improvements to access in port (Focus on Container Terminal) (항만보안 출입통제에 관한 연구 및 개선점 고찰 (컨테이너 터미널 중심으로))

  • Kwak, Kyu-Seok;Nam, Ki-Chan;Jeong, Su-Cheon;Min, Se-Hong;Park, Seung-Jae
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2014.06a
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    • pp.205-206
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    • 2014
  • 세계화의 진전 및 시장 개방의 가속화로 인해 국내외 항만물류산업의 중요성이 높아지고 있다. 우리나라는 항만의 경쟁에서 살아남기 위해 첨단기술을 적용한 무인 자동화 컨테이너 터미널의 구축 등을 통해 생산성, 경제성, 보안성 및 서비스 수준을 향상을 위해 연구 하고 있다. 하지만 컨테이너터미널 내부 효율 및 생산성을 향상시키는 연구가 대부분이며 보안업무 등을 처리하는 연구는 미흡한 실정이다. 컨테이너 터미널 보안의 중요성은 갈수록 중요 ${\cdot}{\cdot}$(중략)${\cdots}{\cdot}$.

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A Development of 3D Simulator Program for Performance Valuation of Port Transportation Systems

  • Park, Sung-Chul;Suh, Jin-Ho;Lee, Young-Jin;Lee, Kwon-Soon
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.393-396
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    • 2005
  • Due to the fast growing rate of the global container trade, every major port is under the pressure of meeting the projected capacity demand. As a result, alternative solutions have been sought for improving capacity and meeting the growing demand for container storage area and terminal capacity. Moreover, material handling process re-engineering is now a critical issue for logistics and supply chain managers of airline, shipping lines, terminal and warehousing enterprises around the world. Therefore, the purpose of this paper is to develop the 3D simulator for executing performance valuation of port transportation systems. The developed 3D simulator system is to measure the effectiveness of the proposed total system and compare it with existing practices. The performance analysis variables are also defined for these comparisons

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A Study on UCT Steering Control using NNPID Controller (신경회로망 자기동조 PID 제어기를 이용한 UCT의 조향제어에 관한 연구)

  • 손주한;이영진;이진우;조현철;이권순;이만형
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 1999.10a
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    • pp.363-369
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    • 1999
  • In these days, there are a lot of studies in the port automation, for example, unmanned container trasporter, unmanned gantry crain, and automatic terminal operation systems and so on. In terms of loading and unloading equipments. we can consider container transporter. This paper describes the automatic control for the UCT(unmanned container transporter), especially steering control systems. UCT is now operated on ECT port in Netherland and tested on PSA ports in Singapore. So we present a design on the controller using neural network PID(NNPID) controller to control the steering system and we use the neural network self-tuner to tune the PID parameters. The computer simulations show that our proposed controller has better performances than those of the other.

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Optimum Design for the Frame of the Shuttle Car for LMTT to transfer a Container (컨테이너 이송을 위한 LMTT용 셔틀 카의 프레임 치수최적설계)

  • Han, Dong-Seop;Han, Geun-Jo;Lee, Kwon-Hee;Shim, Jae-Joon;Lee, Seong-Wook
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.29 no.1
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    • pp.429-432
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    • 2005
  • LMTT(Linear Motor based Transfer Technology) is a new type of transfer system used in the maritime container terminal for the port automation, and largely consists of a controller, shuttle car, and rail. The shuttle car is divided into the frame part, the driving part, and wheels. In order to design this system, various researched on each part of it must be conducted. In this study, we dealt with the optimum design for the frame part of the shuttle car designed from previous studies on the strength of the frame with respect to the number of cross beams to minimize the weight of the shuttle car and to satisfy design criteria of cargo-handling systems in container terminal. For the optimization of the frame, thicknesses of each beam were adopted as design variables, the weight of the frame as objective function, and stress and deflection per unit length as constraint conditions.

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Research on Artificial Intelligence Based Shipping Container Loading Safety Management System (인공지능 기반 컨테이너 적재 안전관리 시스템 연구)

  • Kim Sang Woo;Oh Se Yeong;Seo Yong Uk;Yeon Jeong Hum;Cho Hee Jeong;Youn Joosang
    • KIPS Transactions on Computer and Communication Systems
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    • v.12 no.9
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    • pp.273-282
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    • 2023
  • Recently, various technologies such as logistics automation and port operations automation with ICT technology are being developed to build smart ports. However, there is a lack of technology development for port safety and safety accident prevention. This paper proposes an AI-based shipping container loading safety management system for the prevention of safety accidents at container loading fields in ports. The system consists of an AI-based shipping container safety accident risk classification and storage function and a real-time safety accident monitoring function. The system monitors the accident risk at the site in real-time and can prevent container collapse accidents. The proposed system is developed as a prototype, and the system is ecaluated by direct application in a port.

A Study on Nonlinear Control Strategy for Three-phase Voltage Source PWM DC/AC Inverter based on the PCH Model

  • Mu, Xiaobin;Wang, Jiuhe;Bao, Xueyu
    • Journal of international Conference on Electrical Machines and Systems
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    • v.1 no.2
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    • pp.53-57
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    • 2012
  • The mathematical model of a three-phase voltage source pulse-width modulation (PWM) DC/AC inverter is non-linear, and in view of the traditional linear control strategy it can not meet the requirements of designing a high-performance inverter. What's more, when the loads are not pure resistive loads, the inverter further requires that the controller possess high-performance. This paper proposes a nonlinear control strategy for the inverter called Passivity-based Control. We can alter the inverter model in three-phase abc coordinate to two-phase synchronous rotating dq coordinate for establishing the port-control Hamiltonian (PCH) model for this system. We can control the distribution of energy in the system to achieve the control aim. Simulation results show that the passivity-based control method can make this system possess a level of high-performance that is both robust and dynamic.

Container Flow Management in Port Logistics Based on BPM Framework

  • Nisafani, Amna Shifia;Park, Jaehun;Bae, Hyerim;Yahya, Bernardo Nugroho
    • Journal of Information Technology and Architecture
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    • v.9 no.1
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    • pp.1-10
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    • 2012
  • To promote process effectiveness and efficiency, it is necessary that port logistics employ automated equipments for handling containers. There exists a system for automatically managing the container flow, called Control Module. However, it has limitation to assign the execution order to the machine and monitor the container flow in real time process. Business process management (BPM) provides a suitable and effective framework to address this problem including controlling and monitoring the flow of each container. Since the nature of container handling process is different with the common process in BPM that is conducted by human performer, it is necessary to adjust the BPM framework in the domain of port logistic management. This study presents a BPM framework corresponds with both human-based and machine-based activity to enhance the efficiency of port process flow including container flow. This framework is introduced as an integrated approach and mechanism of BPM application into the container handling system for the purpose of port logistics process automation.

A Studying on Gap Sensing using Fuzzy Filter and ART2 (퍼지필터와 ART2를 이용한 선박용 용접기술개발)

  • 김관형;이재현;이상배
    • Journal of Korean Port Research
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    • v.14 no.3
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    • pp.321-329
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    • 2000
  • Welding is essential for the manufacture of a range of engineering components which may vary from very large structures such as ships and bridges to very complex structures such as aircraft engines, or miniature components for microelectronic applications. Especially, a domestic situation of the welding automation is still depend on the arc sensing system in comparison to the vision sensing system. Specially, the gap-detecting of workpiece using conventional arc sensor is proposed in this study. As a same principle, a welding current varies with the size of a welding gap. This study introduce to the fuzzy membership filter to cancel a high frequency noise of welding current, and ART2 which has the competitive learning network classifies the signal patterns the filtered welding signal. A welding current possesses a specific pattern according to the existence or the size of a welding gap. These specific patterns result in different classification in comparison with an occasion for no welding gap. The patterns in each case of 1mm, 2mm, 3mm and no welding gap are identified by the artificial neural network.

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