• 한국항해항만학회지
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• 제29권3호
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• pp.251-256
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• 2005

항만 물류 시스템의 급속한 성장으로 인해 항만의 효율성을 증대하기 위한 자동화 크레인 시스템의 개발이 다양하게 진행 중이다. 자동화크레인은 통신 네트워크를 통하여 각종센서와 액츄에이터를 정밀 제어하게 되는데 이러한 시스템에 장착되는 네트워크 기반 스마트 모 듈은 센서 선호획득 및 필터링 기능, 데이터 연산 및 통신기능이 한 보드상에 구축되어 있어 고장이나 프로토콜이 지원이 다른 모듈을 사용할 경우 모듈 전체를 교체해야 되는 문제점이 발생하게 된다. 본 논문에서는 이러한 문제점을 해결하기 위해서 IEEE 1451 기반의 네트워크 독립적인 스마트 모듈을 제안하고 제안한 스마트 모듈의 성능을 평가하여 크레인 시스템에 적용 가능성을 확인하였다.

• 한국항해항만학회지
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• 제28권8호
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• pp.721-726
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• 2004

본 연구에서는 장치장 운영규칙의 현실성을 높이기 위해서 트랜스퍼 크레인의 작업운영체계를 분석하고 작업우선순위의 적용을 위한 운영규칙의 적용방법을 설명하였다. 또한 장치장에서 주행로의 특성에 따른 트럭의 대기 및 주행로 점거형태를 분석하여 블록에 진입하여 대기할 수 있는 최대 대기차량수를 도출할 수 있는 산정식을 정리하고 공간의 제약상태를 분석하였다. 또한 공간의 제약사항 극복하기 위해서 공간자원을 정의할 수 있는 다작업원칙을 제시하고 그 원칙을 위한 해법과 순서도를 묘사하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 춘계학술대회 논문집
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• pp.451-456
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• 2004

본 연구에서는 장치장 운영규칙의 현실성을 높이기 위해서 트랜스퍼 크레인의 작업운영체계를 분석하고 작업우선순위의 적용을 위한 운영규칙의 적용방법을 설명하였다. 또한 장치장에서 주행로의 특성에 따른 대기 및 주행로 점거형태를 분석하여 블록에 진입하여 대기할 수 있는 최대 대기차량수를 도출할 수 있는 산정식을 정리하고 공간의 제약상태를 분석하였다. 또한 공간의 제약사항 극복하기 위해서 공간자원을 정의할 수 있는 다작업원칙을 제시하고 그 원칙을 위한 해법과 순서도를 묘사하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2240-2245
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• 2003

In this paper, the controller design by coefficient diagram method (CDM) for controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system simultaneously is proposed. The overhead crane system is a MIMO system consisting of two inputs and three outputs. Its mathematical model is nonlinear with coupling characteristics. This nonlinear model can be approximated to obtain a linear model where the first input mainly affects the trolley position and the load-swing angle while the second input mainly affects the hoisting rope length. In order to utilize the CDM concept for assigning the controllers, namely PID, PD and PI controllers separately, the model is approximated to be three transfer functions in accordance with trolley position, the load-swing angle and the hoisting rope length controls respectively. The satisfied performances of the overhead crane system controlled by the these controllers and fast rejection of the disturbance effect occurred at the trolley position are shown by simulation and experimental results.

• 제어로봇시스템학회논문지
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• 제16권12호
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• pp.1212-1219
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• 2010

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 technical trends and environment of the automated container terminal, it is necessary that the systems for cargo handling are equipped with more intelligent control technologies. To cope with this tendency, from the middle of the 1990's, the automated RMGC (Rail-Mounted Gantry Crane) and RTGC (Rubber-Tired Gantry Crane) 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. If we want to obtain more efficient handling performance, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control problems must be considered in the control system design and application process. Considering these problems, in this paper, the system modelling with the tire slip and a tracking control approach are proposed. Especially, we design the tracking control system based on the 2DOF servosystem design approach to cope with undesirable disturbance input. The experiment results show the desirable performance and usefulness of the designed control system.

• 한국해양공학회지
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• 제20권6호
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• pp.114-122
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• 2006

The most important thing in the container terminal is to handle the cargo effectively in a limited time. To achieve this objective, many strategies have been introduced and applied. If we consider the automated container terminal, it is necessary that the cargo handling equipment is equipped with more intelligent control systems. From the middle of the 1990s, 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, equipment like CCD cameras and sensors have been mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes that make the cargo handling be performed effectively in the yards. For this plant, we ought to consider modeling, tracking control, anti-sway system design, skew motion suppressionand complicated motion control and suppressing problems. In this paper, the system modeling and a tracking control approach are discussed, based on a two-degree-of-freedom (2DOF) servo-system design. From the simulation results, the good control performance of the designed control system is evaluated.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.485-488
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• 2006

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 based on two-degree-of-freedom (2DOF) servosystem design.

• 제어로봇시스템학회논문지
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• 제13권1호
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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.

• 한국컴퓨터정보학회논문지
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• 제20권1호
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• pp.237-246
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• 2015

본 논문에서는 컨테이너터미널에서 탠덤 리프트 안벽크레인과 고생산성 컨테이너 이송차량 Alternative ship-to-yard vehicles를 고려한 시뮬레이션을 활용하여 컨테이너터미널의 생산성 향상 모델을 제안한다. 이 방법의 특징은 탠덤 리프트 안벽크레인과 고생산성 컨테이너 이송차량의 데이터를 도출하고, 회귀분석 함으로써 탠덤 리프트 안벽크레인의 생산성 모델을 추정한다. 탠덤 리프트 안벽크레인은 한 사이클 당 20ft 컨테이너 4개, 40ft 컨테이너 2개를 동시에 취급함으로서 기존의 싱글 안벽크레인보다 이론상 약 2배의 컨테이너 생산성을 증가시키는 장비이고 Alternative ship-to-yard vehicles는 기존의 야드 트랙터보다 더 많은 최대 4TEU의 컨테이너를 운반시킬 수 있는 장비이다. 본 논문에서는 신기술 안벽장비인 탠덤 리프트 안벽크레인과 신기술 이송장비인 Alternative ship-to-yard vehicles를 적용한 시뮬레이션을 통하여 생산성에 관한 데이터를 도출하고 통계 기법인 회귀분석을 통하여 컨테이너 터미널의 생산성의 추정모델을 구해보고자 한다.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.563-570
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• 2022

Industrialized and modular construction is a growing construction technique that can transfer a large portion of the construction process to off-site fabrication yards. This method of construction often involves the fabrication, pre-assembly, and transportation of massive and long volumetric modules. The module weight keeps increasing as the modules become more complete (with infill) to minimize the work at the site and, as higher productivity can be achieved at the fabrication shop. Thus, a volumetric module delivery gets more challenging and risky. Despite its importance, past research paid relatively insufficient attention to the problem related to the lifting of heavy modules. This can be a complex and time-consuming problem with multiple lifting for transportation-and-installation operations both in fabrication yard and jobsite, and require complex crane operations (sometimes, more than one crane) due to crane load capacity and load balance/stability. This study investigates this problem by focusing on the structural perspective of lifting such long volumetric modules through simulation studies. Various scenarios of lifting a weighty module from the top using four lifting cables attached to crane hooks (either a single crane or double crane) are simulated in SAP software. The simulations account for various factors pertaining to structural indices, e.g., bending stress and deflection, to identify a proper method of module lifting from a structural point of view. The method can identify differences in structural indices allowing identification of structural efficiency and safety levels during lifting, which further allows the selection of the number of cranes and location of lifting points.