• Proceedings of the KSR Conference
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• 2006.11b
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• pp.964-967
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• 2006

Korea Railroad Research Institute (the following 'KRRI') built AGT test line in Gyeong San-city, Kyongsang-bukdo province, Korea on August, 2004. This test line is exclusively used for the test of the driverless rubber-tired AGT system, and applied with research result of AGT System Development Project like vehicles, power supply, control and signaling, track and infrastructure system. The test line is available for the test of rubber tired AGT system's performance, function, safety. In this paper, we described the operation system of test line for the test of performance, safety, reliability, and also system operation in emergency. Finally we present the operation result of test line.

• Proceedings of the KIEE Conference
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• 2005.10c
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• pp.264-269
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• 2005

Light Rail Transit(LRT) Systems with transport capacity between subway and bus(5,000-25,000 persons per hour) are being carried on over 100 lines around the world, In Korea, to solve the urban transportation problem, the introduction of LRT system has been proceeded positively. It is planned to develop the Korean standard LRT system in which safety, efficiency and cost effectiveness are emphasized. So we were able to make proto type of Rubber tired AGT system for LRT. This is capable of driverless operation using CBTC(Communication Based Train Control) of Moving Block System and is currently making an experiment for reliability in test-line. This study is focused on verifving the performance of CBTC system for driverless and ATO mode through implementing the examination.

• Journal of Korean Society of Forest Science
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• v.84 no.2
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• pp.218-225
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• 1995

In this paper, a mechanical analysis model for steep-slope log-skidding operations of a rubber-tired tractor is discussed and the applicability of the model is investigated. The model largely consists of mathematical analysis models for log drag, dynamic vehicle weight distributions and soil-vehicle traction. For the case study, a theoretical data set for log skidding operations is used in investigating the effect of the factors influencing the results of mechanical analysis or the productivity of skidding operations. The analyses include 1) the effect of log choking methods on tangential log-skidding force, 2) the effects of the change in travel speed and log load on the required input power to the wheels and 3) the log skidding performance of a two-wheel drive compared with that of a four-wheel drive.

• Proceedings of the KSR Conference
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• 2001.05a
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• pp.387-392
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• 2001

This paper shows the general description on the characteristic of civil structure for a automated guide way transit(AGT) system. There are three kind of AGT system; rubber tired AGT, steel wheel AGT and LIM AGT; for this paper.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.33 no.3
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• pp.112-117
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• 1984

The dielectric propertries of polymers are very important to investigate the molecular structure of polymer. The characteristrics of the dielectric absorption in vulcanized natural rubber were studied in the range of frequency from 10[KHz] to 32[MHz] at the temperature of 25[$^{\circ}C$]. As the results. it has been confirmed that in the case of natural ruber vulcanized between 2 and 4phr the specimens exhibit two kind of dielectric losses due to the dipole polarization by impurites and sulfure, and of above 7phr was only a loss due to the dipole polarization by sulfure and of natural rubber exhibit two kind of losses due to the interfacial and the dipole polarization. Furthermore, dielectric loss maximun tan spectrum, which removed to the low frequency according to increasing sulfure, depends greatly on sulfure. The volume resistivity of $10^{7}$~$10^{11}$[$\Omega\cdot$cm], regardness whether the crosslinking of rubber are tired by sulfure or, was observed.

• 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 Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.892-896
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• 2011

This paper describes a camera-based position measurement system for automatic tracking control of a rubber Tired Gantry Crane (RTGC). An automatic tracking control of RTGC depends on the ability to measure its displacement and angle from a guide line that the RTGC has to follow. The measurement system proposed in this paper is composed of a camera and a PC that are mounted on the right upper between front and rear tires of the RTGC's side. The measurement accuracy of the system is affected by disturbances such as cracks and stains of the guide line, shadows, and halation from the light fluctuation. To overcome the disturbances, both side edges of the guide line are detected as two straight lines from an input image taken by the camera, and parameters of the straight lines are determined by using Hough transform. The displacement and angle of the RTGC from the guide line can be obtained from these parameters with the robustness against the disturbances. From the experiments with the disturbances, we found the accurate displacement and the angle from the guide line that have the standard deviations of 0.95 pixels and 0.22 degrees, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1212-1219
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• 2010

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the technical trends and environment of the automated container terminal, it is necessary that the systems for cargo handling are equipped with more intelligent control technologies. To cope with this tendency, from the middle of the 1990's, the automated RMGC (Rail-Mounted Gantry Crane) and RTGC (Rubber-Tired Gantry Crane) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. If we want to obtain more efficient handling performance, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control problems must be considered in the control system design and application process. Considering these problems, in this paper, the system modelling with the tire slip and a tracking control approach are proposed. Especially, we design the tracking control system based on the 2DOF servosystem design approach to cope with undesirable disturbance input. The experiment results show the desirable performance and usefulness of the designed control system.

• Journal of Ocean Engineering and Technology
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• v.20 no.6 s.73
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• pp.114-122
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• 2006

The most important thing in the container terminal is to handle the cargo effectively in a limited time. To achieve this objective, many strategies have been introduced and applied. If we consider the automated container terminal, it is necessary that the cargo handling equipment is equipped with more intelligent control systems. From the middle of the 1990s, an automated rail-mounted gantry crane (RMGC) and rubber-tired gantry crane (RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, equipment like CCD cameras and sensors have been mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes that make the cargo handling be performed effectively in the yards. For this plant, we ought to consider modeling, tracking control, anti-sway system design, skew motion suppressionand complicated motion control and suppressing problems. In this paper, the system modeling and a tracking control approach are discussed, based on a two-degree-of-freedom (2DOF) servo-system design. From the simulation results, the good control performance of the designed control system is evaluated.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.485-488
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• 2006

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. In this paper, the system modelling and a tracking control approach are discussed based on two-degree-of-freedom (2DOF) servosystem design.