• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1112-1118
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• 2004

Automated container terminals have been developed over the world years and many countries are interested in them because the amount of containers exported or imported is rapidly increasing. The conventional container terminals were not designed to handle this kind of heavily many containers. They would face many structural problems soon or later, although they have been managed to do well so far. One of the most important things in automated container terminal is the handing equipments able to transfer many containers efficiently. Those are maybe automated transfer cranes, automatic guided vehicles and automated quay-side cranes. The word 'automated' means the equipment is operated without drivers and those equipments are able to work without any interruption in working schedule. Through the researches on the conventional transfer cranes, we decided that the structure of conventional transfer cranes is not proper in automated container terminal and it is not possible to handle so many container in limited time. Therefore we have been studying on the proper structure of the automated container for past several years and a new type of transfer cranes has been developed. Design concept and control method of the new crane are introduced and experimental results are presented in this paper.his paper.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1743-1746
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• 2003

Automated Container Terminals have been being developed over the world for many recent years and more and more countries get interested in it because the amount of containers exported or imported is steeply increasing. Existed Container Terminals were not designed to control this kind of heavily many containers. They would face many structural problems soon or later, although they have managed to do well until now. One of the most important things in developing Automated Container Terminal is to develop the equipment able to transfer the awfully many containers. Those are maybe Automated Transfer Cranes, Automated Guided Vehicles, and Automated Quay-Side Cranes. The word "Automated" means the equipment is operated without drivers and those equipments are able to work without taking any break. Through the researches on the existed transfer cranes, authors decided that the structure of existed transfer cranes is not proper to swift and fast transfer and it′s not impossible to handle so many containers in limited time. Therefore authors have been studying on the proper structure of the Automated Container Crane for past several years and a new type of transfer crane has been developed. Design concepts and control methods of a new crane will be introduced in this paper.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.39-45
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• 2007

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives at the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. The relative position information between the spreader and a container using the laser range finder and tilt sensor is estimated through the geometrical analysis.

• 대한안전경영과학회지
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• 제26권1호
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• pp.9-14
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• 2024

Restraints of Branch Lines are used as earthquake-resistant support devices for fire-fighting pipes along with sway brace devices. The central types are aligned and fixed in a straight line with center of the pipe, but the eccentric types are fixed to on side of the pipe, so a bending moment occurs. In this study, three specimens each of central type and eccentric type were installed at an angle of 45° from the vertical and a monotonic compression load of 1340N was applied. All central type samples satisfied 17.8mm of the allowable displacement, but all eccentric type samples failed to meet the target load and buckled. Therefore, when considering the performance of eccentric type restraints, both compressive load and bending moment must be considered. Even through material mechanics calculations, the yield stress of eccentric type - 3/8 inch all threaded steel bolt - exceeds 320Mpa of the allowable stress. A experiment standards need to be established for eccentric type restraints.

• 한국구조물진단유지관리공학회 논문집
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• 제25권2호
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• pp.35-42
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• 2021

본 연구에서는 NFPA 13을 참조하여 구조물 2층을 구현한 강재지그를 제작하였으며, 그루브 조인트의 배관연결재가 적용된 배관계통을 구성하고 정적 반복가력에 의한 지진모사실험을 수행하였다. 지진모사실험은 엑츄에이터로 건축물 내진설계기준의 최대허용 층간변위에 대한 반복가력실험을 수행하였다. 지진하중 발생 시 입상배관의 구조물에 대한 변형 또는 구조부재간의 상대변위에 의한 변위지배적인 거동에 따른 배관계통과 주요 배관요소의 지진거동을 분석하였다. 배관계통의 변형각은 기존의 센서를 이용하여 측정하기가 어려우므로 이미지측정시스템을 적용하였다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권2호
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• pp.347-360
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• 2014

The auto-berthing of a ship requires excellent control for safe accomplishment. Crabbing, which is the pure sway motion of a ship without surge velocity, can be used for this purpose. Crabbing is induced by a peculiar operation procedure known as the push-pull mode. When a ship is in the push-pull mode, an interacting force is induced by complex turbulent flow around the ship generated by the propellers and side thrusters. In this paper, three degrees of freedom equations of the motions of crabbing are derived. The equations are used to apply the adaptive backstepping control method to the auto-berthing controller of a cruise ship. The controller is capable of handling the system non-linearity and uncertainty of the berthing process. A control allocation algorithm for a ship equipped with two propellers and two side thrusters is also developed, the performance of which is validated by simulation of auto-berthing.

• 대한물리의학회지
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• 제9권3호
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• pp.315-324
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• 2014

PURPOSE: This study aimed to determine the correlation of weight bearing ability at the affected side with balance and gait abilities for the development of pressure biofeedback based equipment to stroke patients. METHODS: This study included 35 patients with stroke patient. The tests were conducted to determine the weight bearing ratio while pushing a step forward the affected side, static balance ability using the total length of COP(Center of pressure), sway velocity of COP, COP velocity at the X and Y axis. Functional reaching test (FRT), berg balance scale (BBS) were used to assess the dynamic balance ability and timed up and go test (TUG), 10m walk test (10mWT) were used assess the gait ability respectively. In order to determine the correlation between measured variables, bivariate correlation analysis was conducted. RESULTS: A significant correlation of the weight bearing ratio were shown with COP total length and velocity(r=-.34), Y-axis velocity(r=-.39), FRT(r=.42), BBS(r=.54), TUG (r=-.39), and 10m walking test (r=-.42). CONCLUSION: This study result showed that as patients with stroke had more weight bearing ratio at the affected side, not only their static and dynamic balance abilities increased more but also functional gait ability improved more. These results mean that, to improve stroke patients' static, dynamic balance ability and gait ability, weight bearing training with the affected side foot placed one step forward necessary for gaits are important.

• 대한물리치료과학회지
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• 제26권3호
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• pp.70-75
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• 2019

Purpose: The purpose of this study was to investigate the changes of static and dynamic balance control ability according to the stability of shoes in elderly woman and female university student. Design: Cross-sectional study. Methods: Six elderly women and seven female university students were recruited for this study. The subject's static and dynamic balance were evaluated while wearing two different types of shoes (comfortable running shoe and masai walking shoe). The BT4 system was used to measure the static (postural sway area and velocity) and dynamic balance (limit of stability on forward, backward and left and right side). The measurement of static and dynamic balance control ability was performed in standing posture wearing comfortable running shoes and masai walking shoes. Results: In the static balance control ability, both female university students and elderly women showed significant increase in postural sway area and velocity when wearing unstable shoes (p<0.05) In addition, in the dynamic balance control ability, both female university students and elderly women showed significant decrease in limit of stability on forward and backward when wearing unstable shoes (p<0.05). Conclusion: In selecting shoes for the elderly, the stability of shoe should be considered for prevention of falls.

• 디지털융복합연구
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• 제12권7호
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• pp.297-304
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• 2014

본 연구는 가정운동프로그램이 뇌졸중 환자의 균형능력회복에 미치는 효과를 알아보기 위하여 실시하였다. 본 연구는 2013년 9월에서 2013년 12월까지 실시하였으며, 대상자는 총 20명으로 일반적인 통원 물리치료를 실시한 조군 10명, 일반적인 통원 물리치료를 실시하고 추가적으로 가정운동프로그램을 실시한 운동군 10명으로 나누어 배정하였다. 가정운동프로그램은 신경계 물리치료사가 대상자 집을 방문하여 8주동안 주 2회씩 매회 30분간 시행하였으며 체중이동훈련, 지구력훈련, 운동재훈련, 감각재훈련, 하지운동으로 구성되었다. 균형능력을 평가하기 위하여 Biorescu를 이용하여 족저압, 안정성한계, 동요속도를 측정하였고 임상적인 측정방법 중 하나인 기능적 팔뻗기 검사를 실시하였다. 연구결과 대조군과 운동군은 안정성한계, 동요속도, 기능적 팔뻗기 검사에서 유의한 차이가 나타났다. 본 연구는 가정운동프로그램이 뇌졸중 환자의 균형회복을 회복하는데 효과적인 치료전략 중 하나라는 것을 나타낸다.

• 한국전문물리치료학회지
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• 제24권4호
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• pp.54-59
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• 2017

Background: Light touch cue is a sensory input that could potentially help in the control of posture. The immediate stimulatory effect of light touch cues using a cane during gait is associated with postural stability. This strategy can help post-stroke individuals regain their ability to perform the sit-to-stand (STS) transfer safely. Objects: The effects of light grip on postural control during the STS transfer in post-stroke subjects were investigated. Methods: Eleven participants (6 men, 5 women) with hemiplegia due to stroke were recruited in the study. The subjects with hemiparesis performed STS transfer in three randomly assigned conditions (1) without a cane (2) light grip with a cane (3) strong grip with a cane. Results: The difference in weight-bearing distribution between the left and right feet, when the subjects were instructed to stand up, was $52.73{\pm}2.13%$ without a cane, $42.75{\pm}3.26%$ with a strong grip, and $43.00{\pm}2.55%$ with a light grip (p<.05). The rate of rise in force indicates the peak power provided by subjects during their STS transfers. The rate of rise in force was statistically significantly lower without a cane than that with a light grip or a strong grip (p<.05). The subjects' centers of pressure sway on the mediolateral side during STS transfers statistically significantly declined with a light grip or a strong grip when compared to those without a cane (p<.05). Conclusion: When the subjects with hemiparesis used a cane during STS transfers, their duration, center of pressure sway, and difference in weight-bearing distribution were all reduced. The subjects also exhibited similar results during STS transfers with a cane gripped lightly. This result may provide guidelines for the use of assistive devices when patients with hemiparesis practice STS transfers in clinical settings.