• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.708-712
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• 2000

The sway motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to investigate the phenomenon that the load is taken by the sway motion of crane. For deriving the dynamic equations related to the swing motion of crane, we introduced a conception of spring and damper in the upper part of the crane. During the crane and trolley is driving along the velocity profile, the swing motion of the spreader and crane will be simulated. The simulation result of the equation of motion using the Rung-Kutta method is presented in this paper. And we will show an effect of the swing of the crane in this research.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.372-375
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• 1995

The LQG/LTR controller design procedure for ground alignment of inertial platform is accomplished. Due to the alignment system dynamics, LQG/LTR controller is proposed to overcome both singular problem and nonsquare problem. To show the effectiveness of this control system, computer simulation was performed under the assumption of random sway motion.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.249-252
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• 1997

In this paper the sway-control problem of a container crane is investigated in the perspective of controlling an underactuated mechanical system. For fast loading/unloading of containers from the ship, quick suppression of the remaining swing motion of the container at the end of each trolley stroke is crucial. Known nonlinearities are fully incorporated by feedback linearization. Robustness is enhanced by variable structure control. Compared with the linear LQ control, much better performance can be obtained.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.307-307
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• 2000

The swing motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to design implementable stabilizing controllers that minimize the swing motion of spreader in precise position control. The dynamic equations related to trolley, rope, and spreader are derived. For constitute a similar actual system, we introduced a conception of spring and damper in the connector. It is located between the trolley and link that is used in stead of rope. We derived dynamic equation by appliance that friction and external disturbance are occurred to the connector. We constituted of position servo system and velocity servo system for the control of position and velocity of the trolley and constituted of lag compensator system for the control of sway of the spreader. And we will show an effect of the proposed system in this research finally.

• International Journal of High-Rise Buildings
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• v.2 no.2
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• pp.141-152
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• 2013

This paper presents a brief overview of the recently developed performance-control method of moment frame design subjected to monotonously increasing lateral loading. The final product of any elastic-plastic analysis is a nonlinear loaddisplacement diagram associated with a progressive failure mechanism, which may or may not be as desirable as expected. Analytically derived failure mechanisms may include such undesirable features as soft story failure, partial failure modes, overcollapse, etc. The problem is compounded if any kind of performance control, e.g., drift optimization, material savings or integrity assessment is also involved. However, there is no reason why the process can not be reversed by first selecting a desirable collapse mechanism, then working backwards to select members that would lead to the desired outcome. This article provides an overview of the newly developed Performance control methodology of design for lateral resisting frameworks with a view towards integrity control and prevention of premature failure due to propagation of plasticity and progressive P-delta effects.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.445-452
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• 2016

This paper discusses the dynamics and control problem of an overhead shuttle system (OSS), which is a critical part of the automated container terminal at a port. The main purpose of the OSS is efficient automated transport function of containers, which also requires high precision and safety. A major difference between the OSS and the conventional container crane is the configuration of the cables for hoisting the spreader. A mathematical model of the OSS is developed here for the first time, which results in an eight-pole system. Also, open loop control methods (trapezoidal and notch-type velocity profiles) are investigated so that the command input to the overhead shuttle produces the minimum possible sway of the payload. Simulation results show that the vibration suppression capability of the OSS is superior to the conventional overhead container crane, which is partially due to the cable configuration.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.5
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• pp.557-565
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• 2021

Path-following control is considered as one of the most fundamental skills to realize autonomous navigation of marine vessels in the ocean. This study addresses with the path-following control for a ship in which there are environmental disturbances in the directions of the surge, sway, and yaw motions. The guiding principle and back-stepping method was utilized to solve the ship's tracking problem on the reference path generated by a virtual ship. For path-following control, error dynamics is one of the most important skills, and it extends to the research fields of automatic collision avoidance and automatic berthing control. The algorithms for the guiding principles and error variables have been verified by numerical simulation. As a result, most error variables converged to zero values with the controller except for the yaw angle error. One of the most interesting results is that the tracking errors of path-following control between two ships are smaller than the existing safe passing distances considering interaction forces from near passing ships. Moreover, a trade-off between tracking performance and the ship's safety should be considered for determining the proper control parameters to prevent the destructive failure of actuators such as propellers, fins, and rudders during the path-following of marine vessels.

• Physical Therapy Korea
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• v.7 no.2
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• pp.1-19
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• 2000

Decreased equilibrium in standing and walking is a common problem associated with hemiparesis secondary to cerebral vascular accident. In patients with hemiplegia, postural sway is increased and often displaced laterally over the non-affected leg, reflecting asymmetry in lower extremity weight bearing during standing balance. Human balance is a complex motor control task, requiring integration of sensory information, neural processing, and biomechanical factors. Limits of stability (LOS) is a one of the biomechanical factors. The purposes of this study were to establish the influence of asymmetrical weight-bearing on the LOS of independent ambulatory hemiparetic patients. The subjects of this study were 29 hemiparetic patients (18 males, 11 females) being treated as admitted or out patients at Young-Nam University Hospital and Taegu Catholic University Hospital, all of whom agreed to participate in the study. Participants were asked to lean and displace their center of gravity (COG) as far as possible in directions to the sides and front of the body. The LOS and weight-bearing ratio were measured with a Balance Performance Monitor (BPM) Dataprint Software Version 5.3. In order to assure the statistical significance of the results, the independent t-test and a Pearson's correlation were applied at the .05 and .01 level of significance. The results of this study were as follows: 1) There were statistically significant differences in anteroposterior LOS according to the cause of brain demage (p<.01). 2) There were statistically significant differences in mediolateral LOS according to the hemiparetic side (p<.05). 3) There were statistically significant differences in anteroposterior and mediolateral LOS according to the brain operation (p<.01). 4) The mediolateral LOS significantly correlated with weight-bearing ratio (p<.01).

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.54 no.4
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• pp.343-352
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• 2018

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessel looks like the barge ship, which is used for many purposes. In these vessels, basically, the power propulsion system is not installed but just towed by a towing vessel such as tugboats with ropes and wires. It means that the motions of towed vessel are basically dependent on the tracking route of towing boat. Therefore, in some cases, undesirable and unpredictable motions may be made by environmental factors such as wave, wind attack and so on. As a result, a collision accident with others may occur during maneuvering situation. Based on these facts, the authors try to encourage the steering performance of the towed vessel by using controllable rudders without any propulsion system. In this study, especially, a controllable vessel with three rudders is considered, and a mathematical model is induced for the future study. The model is described as surge, sway motion and inertia moment by following the general representation method for the surface ship.