• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.26-32
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• 2007

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. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the informations of the states. The experiment results show the usefulness of the designed control system.

• Proceedings of the KSR Conference
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• 2003.05a
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• pp.376-381
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• 2003

This study is focused on the dynamic response of curved bridge when the rubber tired AGT vehicles is running with alternative articulations. For the analytic approach, there is necessary for the three dimensional vehicle model with 11 degree of freedom and the three dimensional curved bridge model by means of finite element method. It can be described by conventional Lagrangian formula with respect to the dynamic interactions between vehicles and its met bridge. The formula is implemented by Fortran language on the simulation program designated BADIA II(Bridge-AGT Dynamic Interaction Analysis II). The solutions of the formula are derived by Newmark- ${\beta}$ method. The BADIA II is for the dynamic interactions between vehicle and curved bridge in terms of the roughness of running surface and guide rail. The applicability of the BADIA II is verified in terms of displacement and modal frequency. This study is described that the dynamic interactive behaviors between the rubber tired AGT vehicle and curved bridge in terms of the radius of curvatures of curved bridge, vehicle articulations, vehicle speeds, vehicle weights, flatness of running surface and roughness of guide rail using BADIA II.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.799-804
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• 2005

In this work, the characteristics of train performance of Korean rubber-tired AGT system(K-AGT) are evaluated by using TPS(Train Performance Simulation) and these results are compared to those of other LRT(Light Rail Transit) systems. The performance characteristics of K-AGT was analyzed by comparing the scheduled speed and the energy consumption in case of station interval change and rail track condition change in, the scheduled construction line. In the scheduled construction line, scheduled speed of K-AGT was no difference with other systems and energy consumption was less than other LRT's. In case station intervals are increased, scheduled speed of K-AGT shows similar increasing rate and in curved and graded track conditions K-AGT has no difference in scheduled speed with other systems. As a simulation result by track condition change, when the track which is smaller than curved line of 250m dominates more than $50\%$ in whole track, K-AGT is similar to other systems to the point of scheduled speed and there is advantage in energy consumption.

• Journal of Power System Engineering
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• v.15 no.5
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• pp.91-96
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• 2011

The handling ability of containers at the terminal strongly depends on the performance of the cargo handling system such as RTGC(Rubber Tired Gantry Crane) and RMGC(Rail Mounted Gantry Crane). This paper introduces a guide line measurement system on the operating condition, in which two camera are installed to detect the guide line. Because the line tracking is the basic technique for control system design of RTGC, it is necessary to develop a useful and reliable measurement system. If the displacement and angle of the RTGC relative to a guide line as the trajectory to follow is obtained, the position of RTGC is automatically calculated. Therefore, in this paper, a camera-based measurement system is introduced. The proposed measurement system is robust against light fluctuation and cracks of the guide line. This system consists of two camera and a PC which are installed at the lower side of the RTGC. Two edges of the guide line are detected from an input image taken by the cameras in the moving state, and these positions are determined in a Hough parameter space by using the Hough transformation method. From the experimental results, the accuracy and usefulness of the proposed system is evaluated by comparing other instruments.

• Journal of Navigation and Port Research
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• v.34 no.6
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• pp.479-485
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• 2010

To handle container effectively is one of the most important factors in a port because working time is linked soon into cost. Since the middle of 1990s, RMGC(Rail-Mounted Gantry Crane) and RTGC(Rubber-Tired Gantry Crane) have been developed and widely used to operate containers in the yard. The RTGC is more difficult than RMGC in the automatic control system design. Although, the RTGC is largely advantaged to free driving environment, it has some considerable disadvantages in the system operating. In general, the problems are due to tire slip and lack of tire pressure etc. Therefore, a desirable research result has not been shown in this time. So, in this paper, we propose a new approach to design tracking control system for the RTGC in which the mathematical modeling is included. From the simulation results, the control performance of the designed control systems is evaluated.

• Proceedings of the KSR Conference
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• 2003.10b
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• pp.135-140
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• 2003

Recently Light Rail Transit(LRT) systems, especially full automatic systems are strongly issued by many provinces and major cities due to it's own characteristic for economical, environmental and sufficient transportation capacity. But LRT design criteria should be modified according to Rolling Stock's properties. -size, arrangement of bogie and wheel, power of traction motor etc, This thesis suggest for basic standard design criteria of Rubber Tired Light Rail Transit system.

• Proceedings of the KIEE Conference
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• 2005.04a
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• pp.229-231
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• 2005

현재 철도 신호시스템 추세는 이동폐색 및 무인운전, 안전에 주안점을 두어 연구개발 되고 있다. 본 논문에서는 철도환경에 적합하고 경제성이 고려된 무선에 의한 새로운 열차검지기법인 토대로 이동폐색을 구현 및 평가하기 위하여 적용한 방법에 대하여 기술하고자 한다. 시험선에서 1편성의 열차 조건으로 이동폐색을 검증하기 위하여 선두열차를 모형열차(Dummy Train)로 시스템을 구성하여 정적인 상태에서 평가를 통해 검증하였다.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.788-790
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• 1993

In the train position defection for the rail car, which is not able to obtain the short circuit between the track circuit and the wheel, the methods by the inductive radio of non-contact type are applicated. It is represented the principles and the methods of the inductive radio train detection on MLU, Transrapid, HSST, M-Bahn, and People Mover for MAGLEV, on Kobe system for the rubber-tired vehicle, and on ICE for wheel-on-rail.

• Journal of Power System Engineering
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• v.15 no.1
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• pp.72-77
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• 2011

The handling ability of containers at the terminal strongly depends on the performance of the cargo handling system such as RTGC(Rubber Tired Gantry Crane). This paper introduces a new guide line position measurement method using a camera for the RTGC which plays a important role in the harbor area. Because the line tracking is the basic technique for control system design of RTGC, it is necessary to develop a useful and reliable measurement system. If the displacement and angle of the RTGC relative to a guide line as trajectory to follow is obtained, the position of RTGC is calculated. Therefore, in this paper, a camera-based measurement system is introduced. The proposed measurement system is robust against light fluctuation and cracks of the guideline. This system consists of a camera and a PC which are installed at the lower side of the RTGC. Two edges of the guide line are detected from an input image taken by the camera, and these positions are determined in a Hough parameter space by using the Hough transformation method. From the experimental results, high accurate standard deviations were found as 0.98 pixel of the displacement and 0.24 degree of the angle, including robustness against lighting fluctuation and cracks of the guide line also.

• Journal of Power System Engineering
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• v.12 no.6
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• pp.42-49
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• 2008

The most important job in the container terminal area 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. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.