• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.61-72
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• 2005

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications

• Journal of the Korean Institute of Navigation
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• v.11 no.1
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• pp.39-65
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• 1987

Since the middle of 1950's, containerization has been rapidly spread over the world in virtue of great merits providing to interensts, and the fundamental changes in port management and prot operations are resulted. As the container terminal is a complex system which is consisted of various subsystems, the treatment for improving the productivity is required in a comprehensive fashion, both in each of its parts and as an integrated system. This paper aims to make an intensive analysis of the Busan Container Terminal system, especially focusing on its subsystems such as ship operation system, storage system and transfer system. First of all, the intrinsic capacity of various subsystems is calculated and it is checked whether the current operation is being performed effectively through the formal analysis. Secondly, the suggestion is presented to improve the operation by considering the throughput that the port of Busan will have to accept in the near future. The results are as follows; 1) As the inefficiency is due to the imbalance between various subsystems at Busan terminal, transfer equipment level must be up to 31% for straddle carrier and 67% transfer crane above all. 2) The yard capacity must be increased by reducing the free dwell time of containers in order to accept the traffic volume smoothly in the near future. 3) The better way to reduce the port congestion is to change berthing rule from the FIFP to the Pre-allocated system by considering the ship arrival pattern.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1906-1909
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• 2005

This paper presents the acceleration optimization of a high-speed LCD (Liquid Crystal Display) transfer system for the minimization of vibration. To reduce vibration is one of key requirements for the dynamic control of a high-speed LCD transfer system. In this paper, the concept of finite jerk (the first derivative of acceleration) has been introduced for realizing input acceleration. The profile of finite jerk has been optimized using a genetic algorithm so that vibration effect can be minimized. In order to incorporate a genetic algorithm, the dynamic model of a LCD transfer system which is realized by using the $ADAMS^{(R){$ software has been linked to the simulation system constructed by the $MATLAB^{(R)}$. The simulation results illustrated that the duration of finite jerk can be optimized so as to minimize the magnitude of vibration. It has been also shown that the acceleration optimization with finite jerk can make the high-speed motion of a LCD transfer system result in low vibration, compared with the conventional motion control with trapezoidal velocity profile.

• Journal of Navigation and Port Research
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• v.38 no.4
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• pp.399-407
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• 2014

Due to the increase of container terminals, as the volume of terminals become distributed, the competition of preserving existing volume and inviting new volume are becoming fierce, and various ways for processing terminal volume and inviting volume are being sought. Container terminal efforts to maximize efficiency in order to improve the volume handling capability and productivity by both expansion of the latest equipment and development of the latest terminal system. There are a variety of factors that influence the improvement of productivity at container terminals. Among them, in the case of yard transfer equipment, if it were to convert from the method of a Yard Tractor(YT) being fixed allocated to a certain Gantry Cranes(GC) to a Pooling System that processes in a method that properly distributes and allocates a Yard Tractor(YT) to multiple Gantry Cranes(GC), the terminal productivity and the fusibility of YT may be increased. The KPI which is an indicator for the productivity at container terminals is GC productivity and since GC productivity cannot exceed the speed of physical GC operations, a Pooling System is applied to increase productivity which its meaning and effect is massive. Here in the Report, we produce the Pooling Algorithm system to improve the efficiency of the transported equipments in container terminal which is actually applying for this method and have compared Non pooling system with Pooling system in the fields. By introducing a transfer equipment pooling system and enhancing the productivity compared to other terminals, it may become an essential factor for increasing the continuous service quality and profitability in terms of terminal business.

• Industrial Engineering and Management Systems
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• v.15 no.1
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• pp.19-31
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• 2016

A design method of the network for automated transporters mounted on rails is addressed for automated container terminals. In the network design, the flow directions of some path segments as well as routes of transporters for each flow requirement must be determined, while the total transportation and waiting times are minimized. This study considers, for the design of the network, the waiting times of the transporters during the travel on path segments, intersections, transfer points below the quay crane (QC), and transfer points at the storage yard. An algorithm, which is the combination of a modified Dijkstra's algorithm for finding the shortest time path and a queuing theory for calculating the waiting times during the travel, is proposed. The proposed algorithm can solve the problem in a short time, which can be used in practice. Numerical experiments showed that the proposed algorithm gives solutions better than several simple rules. It was also shown that the proposed algorithm provides satisfactory solutions in a reasonable time with only average 7.22% gap in its travel time from those by a genetic algorithm which needs too long computational time. The performance of the algorithm is tested and analyzed for various parameters.

• Journal of Korean Port Research
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• v.14 no.3
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• pp.313-319
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• 2000

In this paper, we proposed the model of wireless communication for ACTS using DSRC and the DSRC system for T/C. The proposed wireless communication model is how to join with DSRC and other wireless communication in port. The DSRC system for T/C is the first application to the unit of port Facilities Automation on stacking area. The DSRC system is communicated between OBE and RSE using 5.8Hz ISM band frequency. The previous works of DSRC applications are gate automation. In these cases, the road trackers are difficult to obtain information of the port in the stacking area. So we used the DSRC for the wireless communication for the port Facilities Automation. Using DSRC, the load trackers obtain more information in the port and contacts to ITS on back-roads of port. The proposed communication system is serviced to reelection of port statistics.

• Journal of Korean Institute of Industrial Engineers
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• v.23 no.4
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• pp.645-660
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• 1997

An application of the genetic algorithm(GA) to the loading sequencing problem in port container terminals is presented in this paper. The efficiency of loading operations in port container terminals is highly dependent on the loading sequence of export containers. In order to sequence the loading operation, we hove to determine the route of each container handling equipment (transfer crane or straddle carried in the yard during the loading operation. The route of a container handling equipment is determined in a way of minimizing the total container handling time. An encoding method is developed which keeps intermediate solutions feasible and speeds up the evolution process. We determine the sequence of each individual container which the container handling equipment picks up at each yard-bay as well as the visiting sequence of yard-bays of the equipment during the loading operation. A numerical experiment is carried out to evaluate the performance of the algorithm developed.

• International Journal of Automotive Technology
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• v.8 no.4
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• pp.521-531
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• 2007

Measurement of the vibration transmitted through rotating shafts such as half shafts in vehicles is of interest in applications such as noise transfer analysis and the study of operating deflections. Vibration signals transmitted through a rotating shaft usually include six degree-of-freedom components, thus making the measurement of vibration a challenging task. In the present work, a new measurement method is presented, one that resolves the minimum of only two one-axis accelerometer signals into all components of vibration with reasonable accuracy. The method utilizes the Dopplerized signals obtained from accelerometers attached to a rotating shaft and a Void-Kalman order tracking filter to decompose signals into orders of different vibration components. The new method proposed in the present work is verified by simulated run-up test data and applied to an experimentally obtained data set.

• Journal of Navigation and Port Research
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• v.32 no.9
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• pp.737-742
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• 2008

In this paper, we deal with an allocation model of vertical type container yard for minimizing the total ATC (Automated Transfer Crane) working time and the equivalence of ATC working load in each block on automated container terminal. Firstly, a layout of automated container terminal yard is shown The characteristic of equipment which work in the terminal and its basic assumption are given Next, an allocation model which concerns with minimizing the total working time and the equivalence of working load is proposed for effectiveness of ATC working in automated container terminal. Also, a weight values on critical function are suggested to adjust the critical values by evaluating the obtained allocation plan. For ATC allocation algorithm, we suggest a simple repeat algorithm for on-line terminal operation.

• Annual Conference of KIPS
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• 2003.05b
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• pp.791-794
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• 2003

자동화 컨테이너터미널은 ATC(Automated Transfer Crane)와 AGV(Automated Guided Vehicle)와 같은 자동화 운송 장비를 사용하는 컨테이너터미널이다. 이러한 자동화 컨테이너터미널의 핵심은 생산성을 향상시키기 위한 효율적인 장비 운영이 결정적인 역할을 한다. 본 논문에서는 AGV의 이동 위치 결정을 위한 RTK-GPS(Real Time Kinematic-Global Positioning System) 위치 정보 전송 및 운용 방법에 대해서 연구하였다. 이를 위해서 기존의 무선모뎀을 이용한 RTK-GPS 전송 방법을 무선 LAN(Local Area Network) 환경에서 RTK-GPS 위치 정보 전송 방법에 대해서 제안하고, AGV 이동 위치 결정 및 계산을 실험하였다.