• International Journal of Control, Automation, and Systems
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• 제5권4호
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• pp.379-387
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• 2007

In this paper, a nonlinear anti-sway controller for container cranes with load hoisting is investigated. The considered container crane involves a planar motion in conjunction with a hoisting motion. The control inputs are two (trolley and hoisting forces), whereas the variables to be controlled are three (trolley position, hoisting rope length, and sway angle). A novel feedback linearization control law provides a simultaneous trolley-position regulation, sway suppression, and load hoisting control. The performance of the closed loop system is shown to be satisfactory in the presence of disturbances at the payload and rope length variations. The advantage of the proposed control law lies in the full incorporation of the nonlinear dynamics by partial feedback linearization. The uniform asymptotic stability of the closed-loop system is assured irrespective of variations of the rope length. Simulation and experimental results are compared and discussed.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 춘계학술대회논문집
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• pp.64-71
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• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.143-151
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• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 전기학회논문지
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• 제63권3호
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• pp.418-424
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• 2014

A large number of wire rope has been used in various industries such as cranes and elevators. When wire used for a long time, wire defects occur such as disconnection and wear. It leads to an accident and damage to life and property. To prevent this accident, we proposed a wire rope fault detection system in this paper. We constructed the whole system choosing the leakage fault detection method using hall sensors and the method is simple and easy maintenance characteristics. Fault diagnosis and analysis were available through analog filter and amplification process. The amplified signal is transmitted to the computer through the data acquisition system. This signal could be obtained improved results through the digital filter process.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2017년도 추계학술대회
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• pp.58-60
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• 2017

In the offshore crane system, the requirements on the operating safety are extremely high due to many external factors. This paper describes a model for studying the dynamic behavior of the offshore crane system. The obtained model allows to evaluate the fluctuations of the load arising from the elasticity of the rope. Especially, in this paper, the authors design control system in which just winch rotation angle and rope tension are used without load position information. The controller design based on input-output feedback linearization theory is presented which can handle the effect of the elasticity of the rope and track the load target trajectory input. Besides that, a full order observer is designed to estimate unknown states. Finally, By the experiment results, the effectiveness of proposed control method is evaluated and verified.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 A
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• pp.334-336
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• 1999

Piping systems of the power generating stations have been generally protected by hydraulic and mechanical snubbers which can allow large displacements arising from temperature change while those can reduce or absorb stresses due to vibrations. However these snubbers require amounts of budget for maintenance or replacement because of the leakage, lubrication and finally short life cycle. Recently the snubbers consisted of wire rope have been proved to reduce vibrations of piping systems. While the wire rope snubbers are free of maintenance such as leakage and lubrication imported price are so high. Now it is necessary to design. manufacture and certificate these wire rope snubbers.

• 대한족부족관절학회지
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• 제15권4호
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• pp.243-246
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• 2011

Lisfranc injury is complex and difficult to treat. Making the correct diagnosis and achieving an anatomical reduction are important factors in regard to achieving a favorable outcome with this injury. We describe a new technique that we have found to be useful for stabilizing Lisfranc injury. This method is relatively fast and simple, and it provides non-rigid fixation. Also, it eliminates the need for implant removal. To date, we have achieved predictable results for stabilizing and treating this injury with the use of a $TightRope^{TM}$ Device, instead of traditional interfragmental screw fixation. In this report, we describe a case in which this method was used with satisfactory short-term results.

• 천문학회보
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• 제36권2호
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• pp.95.1-95.1
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• 2011

Halo Coronal Mass Ejections (HCMEs) are crucial for space weather, since they can produce severe geomagnetic storms when they interact with the Earth's magnetosphere. It is thus very important to infer their directions, radial velocities, and their three-dimensional structures. In this study, we apply two different models to HCMEs since 2008 : (1) an ice cream cone model by Xue et al (2005) using SOHO/LASCO data, (2) a flux rope model by Thernisien et al. (2009) using STEREO/SECCHI data. In addition, we use the flux rope model with zero separation angle of flux rope, which is morphologically similar to the ice cream cone model. The comparison shows that the CME radial velocities from three models have very good correlations (R>0.9) one another. We are extending this comparison to other partial halo CMEs observed by STEREO and SOHO.

• 동력기계공학회지
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• 제2권1호
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• pp.52-58
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• 1998

An immune system has powerful abilities such as memory, recognition and learning to respond to invading antigens, and is applied to many engineering algorithm recently. In this paper, the combined optimization algorithm is proposed for multi-objective problem by introducing the capability of the immune system that controls the proliferation of clones to the genetic algorithm. The optimizing ability of the proposed algorithm is identified by using multi-peak function which have many local optimums and identification of the flexural rigidity for wire rope model.

• 수산해양기술연구
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• 제53권3호
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• pp.293-301
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• 2017

In this study, a winch and load motion control system design method is introduced. Especially, the winch and load (moving cart) are connected with long wire rope which is extended to few kilometers long. Therefore, the rope length changes such that many dynamic parameter values are changed as well by winding and releasing the rope from the winch system. In this paper, the authors designed the control system by considering the real time parameter variation to occupy and keep good control performance continuously. The effectiveness of introduced method was evaluated by simulation results.