• Journal of the Korea Society for Simulation
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• v.19 no.1
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• pp.13-22
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• 2010

This paper describes tagline PD control for reduction of motion for the heavy cargo(load) suspended by a floating crane. The equations of motion are set up considering the 6-degree-of-freedom floating crane and the 6-degree-of-freedom load based on multi-body system dynamics. The tagline mechanism is applied to floating crane to control motion of the heavy cargo(load). The winch, mounted on the deck of floating crane, is used to control the tension of tagline. To generate control force, PD control algorithm is applied. Numerical simulation and experiment is executed to verify the tagline control mechanism. The numerical simulation and experiment shows that the tagline control mechanism reduces the motion of the load suspended by a floating crane.

• Journal of the Society of Naval Architects of Korea
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• v.46 no.5
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• pp.527-535
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• 2009

This paper describes the control system to suppress the load pendulation using tagline for the floating crane. Dynamic equation of motion of the floating crane and the load is derived using Newton's 2nd law and free body model. The floating crane and the load are assumed that they move in center plane. Each rigid body has 3 DOF (surge, heave, pitch), because it moves in two directions and rotates. Then, this system, which is composed of two rigid bodies, has 6 DOF. The gravitational force, the hydrostatic force, the hydrodynamic force and the tension of the wire rope are considered as external forces, which affect to the floating crane. To suppress the pendulation of the load, the tagline, which connects between the load and the float crane, is applied to the system. The tagline is composed of the spring and the wire rope. Proportional and Derivative control is used as a linear control algorithm. The results of the numerical analysis of the 3,600 ton floating crane show that the tagline system is effective to suppress the load pendulation.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.360-362
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• 2002

Myocardial tagging technique such as spatial modulation of magnetization (SPAMM) allows the study of myocardial motion with high accuracy. Tagging contrast of such a tagging images can affect to the accuracy of the estimation of tag intersection in order to analyze the myocardial motion. Tagging contrast can be affected by tagline spacing. The aim of this study was to investigate the relationship between tagline spacing of SPAMM image and tagging contrast-to-noise ratio (CNR) experimentally. One healthy volunteer was undergone electrocardiographically triggered MR imaging with SPAMM-based tagging pulse sequence at a 1.5T MR scanner (Gyroscan Intera, Philips Medical System, Netherland). Horizontally modulated stripe patterns were imposed with a range from 3.6mm to 9.6mm of tagline spacing. Images of the left ventricle (LV) wall were acquired at the mid-ventricle level during cardiac cycle with FEEPI (TR/TE/FA=5.8/2.2/10). Tagging CNR for each image was calculated with a software which developed in our group. During contraction, tagging CNR was more rapidly decreased in case of short tagline spacing than in case of long tagline spacing. In the same heart phase, CNR was increased corresponding with tag line spacing. Especially, at the fully contracted heart phase, CNR was more rapidly increased than the other heart phases as a function of tagline spacing.

• Journal of Advanced Research in Ocean Engineering
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• v.4 no.1
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• pp.35-46
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• 2018

In this paper, safety analysis of the process of installing offshore structures such as manifolds and jacket-type substructures using floating cranes and barges in waves is performed. The safety analysis consists of three components. First, the dynamic responses of the offshore structure, cranes, and barge, all of which are moored and connected using wire ropes, are analyzed. Second, tensions in the wire ropes connecting the cranes and the offshore structures are calculated. Finally, any collision between the offshore structure and the cranes or the barge that transports the offshore structure is detected. Equations of motion of the offshore structure, cranes, and barge are formulated based on multibody dynamics, as well as considering the hydrostatic, hydrodynamic, and mooring forces. Additionally, proportional-derivative control of the tagline between the cranes and the offshore structure is performed to verify the safety of the installation process, as well as for reducing the dynamic response and collisions among them.