• 한국지능시스템학회논문지
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• 제12권6호
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• pp.517-523
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• 2002

본 논문에서는 자연언어를 이용하는 인간의 학습방법에 기초한 LIBL방법의 실용화를 위하여 음성지시기반학습(VIBL : Voice Instruction Based Learing)을 선박의 조타 시스템, 주기원격제어시스템(MERCS), 윈치기기에 적용하여 항해사의 조타명령과 같은 언어적 지시가 조타수를 경유하여 수행되는 과정을 대체하는 VIBL법을 이용한 조타기, 주기 원격 조종장치, 윈치 기기를 제어하는 시스템을 제안하고자 한다. 구체적인 연구방법으로는 조타수의 적절한 조타조작모델을 퍼지추론 규칙을 이용하여 구현하고, 적절한 의미소 및 평가규칙을 제시한 언어지시 기반 학습방법을 선박의 조타시스템에 적용하여 지시자의 음성언어지시에 보다 효율적으로 응답하는 지능형 조타기 제어 시스템을 구현하고, 지시자의 음성지시를 인식하여 주기 원격 조종 장치와 윈치 기기를 제어하는 시스템을 구현한다. 음성언어지시를 인식하여 텍스트로 변환하기 위한 기법과 퍼지추론을 이용하여 조타수의 경험을 바탕으로 한 조타 조작 모델을 구축하였고, 지능형 조타 시스템을 위한 타각, 방위도달시간, 정상상태의 의미소를 제안하여, 조타수 조작 모델 규칙을 수정하기 위한 평가규칙을 제시하였다. 또한, 구현된 음성인식 선박조종 시뮬레이터에 적용하여 그 유효성을 확인하였다.

• 한국기계가공학회지
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• 제16권2호
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• pp.114-123
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• 2017

This paper introduces a novel obstacle-climbing robot that moves on the facade of buildings and its climbing mechanism. A winch system set on the top of the building makes the vertical motion of the robot while it climbs obstacles that protrude from the wall surface. The obstacle-climbing robot suggested in this research is composed of a main platform and three modular climbing units. Various sensors installed on each climbing unit detect the obstacles, and the robot controller coordinates the three units and the winch to climb the obstacles using the obstacle-climbing mechanism. To evaluate the performance of the developed robot prototype, a test bed, which consists of an artificial wall and an obstacle, was manufactured. The obstacle size and the time required to climb the obstacle were selected as the performance indices, and extensive experiments were carried out. As a result, it was confirmed that the obstacle-climbing robot can climb various-sized obstacles with a reasonable speed while it moves on the wall surface.

• 대한조선학회지
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• 제18권3호
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• pp.59-63
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• 1981

With substitution with a delicate turn-tree instead of a long permanent cross-tree that is usally located on the derrick post, it is possible to get a large working range of the slewing angle 240 degree and also to decrease the slewing time of the derrick boom, comparing to the exisiting cargo gear system which has the same capacity of slewing winch.

• 수산해양기술연구
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• 제43권2호
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• pp.140-148
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• 2007

This paper describes on the real-time monitoring of dredging information for grab bucket dredger equipped with winch control sensors and differential global positioning system(DGPS) using electronic chart display and information system(ECDIS). The experiment was carried out at Gwangyang Hang and Gangwon-do Oho-ri on board M/V Kunwoong G-16. ECDIS system monitors consecutively the dredging's position, heading and shooting point of grab bucket in real-time through 3 DGPS attached to the top bridge of the dredger and crane frame. Dredging depth was measured by 2 up/down counter fitted with crane winch of the dredger. The depth and area of dredging in each shooting point of grab bucket are displayed in color band. The efficiency of its operation can be ensured by adjusting the tidal data in real-time and displaying the depth of dredging on the ECDIS monitor. The reliance for verification of dredging operation as well as supervision of dredging process was greatly enhanced by providing three-dimensional map with variation of dredging depth in real time. The results will contribute to establishing the system which can monitor and record the whole dredging operations in real-time as well as verify the result of dredging quantitatively.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2011년도 춘계 종합학술대회 논문집
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• pp.503-504
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• 2011

본 논문에서는 공연이나 영화 촬영에서 사람과 물건을 매달거나 스포츠 중계를 위해 카메라를 매달고서 고속 촬영하는 시스템에 적용되는 윈치 시스템을 소개하고 이때 사용되는 다축 윈치 시스템의 하드웨어 제작 및 제어를 서술한다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2017년도 추계학술대회
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• pp.58-60
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• 2017

In the offshore crane system, the requirements on the operating safety are extremely high due to many external factors. This paper describes a model for studying the dynamic behavior of the offshore crane system. The obtained model allows to evaluate the fluctuations of the load arising from the elasticity of the rope. Especially, in this paper, the authors design control system in which just winch rotation angle and rope tension are used without load position information. The controller design based on input-output feedback linearization theory is presented which can handle the effect of the elasticity of the rope and track the load target trajectory input. Besides that, a full order observer is designed to estimate unknown states. Finally, By the experiment results, the effectiveness of proposed control method is evaluated and verified.

• 동력기계공학회지
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• 제21권2호
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• pp.27-34
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• 2017

A heave motion of the offshore crane system with load is affected by unpredictable external factors. Therefore the offshore crane must satisfy rigorous requirements in terms of safety and efficiency. This paper intends to reduce the heave displacement of load position which is produced by rope extension and sea wave disturbance in vertical motion. In this system, the load position is compensated by the winch actuator control. The rope is modeled as a mass-damper-spring system, and a controller is designed by the input-output linearization method. The model system and the proposed control method are evaluated on the simulation results.

• 한국항해항만학회지
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• 제41권5호
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• pp.337-344
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• 2017

In the offshore crane system, the requirements on the operating safety are extremely high due to many external factors. Rope extension is one of the factors producing vertical vibration of load. In this study, the load is carried by the motor-winch actuator control and the rope is modeled as a mass-damper-spring system. To control the load position and suppress the vertical vibration of the load, a control system based on input-output linearization method is proposed. By the simulation and experiment results with pilot crane model, the effectiveness of proposed control method is evaluated and verified.

• 한국시뮬레이션학회논문지
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• 제19권1호
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• pp.13-22
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• 2010

본 논문에서는 해상 크레인이 인양하는 중량물의 운동 감쇠를 위하여 Tagline을 이용한 PD제어를 수행하였다. 해상 크레인 및 중량물을 각각 6자유도 운동을 하는 강체로 가정하고 뉴턴의 제 2법칙에 따라 운동 방정식을 유도하였다. 중량물의 운동을 감쇠하기 위한 제어 메커니즘으로 Tagline을 사용 하였고, 해상 크레인의 Deck에 설치한 Winch로 Tagline의 장력을 조절하였다. 장력을 조절하는 제어 알고리즘으로는 PD제어를 사용 하였다. 이를 바탕으로 수치적 제어 시뮬레이션을 수행하였다. 또한, 1/100 Scale의 모형 해상 크레인을 제작하고 실험을 통해 제어 시뮬레이션의 결과를 검증 하였다. 제어 시뮬레이션과 모형 시험 수행 결과 Tagline을 이용한 제어가 중량물의 운동을 감쇠시키는데 효과가 있음을 알 수 있었다.

• 한국입자에어로졸학회지
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• 제9권4호
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• pp.253-260
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• 2013

For a vertical atmospheric aerosol distribution measurement, a very compact and light particle sampling package is developed. This package includes a compact optical particle counter (Hy-OPC), a light and small condensation particle counter (Hy-CPC), sensors (GPS, wind velocity, temperature, humidity), and a communication and system control board. This package is attached to He balloon and the altitude is controlled by a winch. Using this system the vertical particle size distribution was measured. The test results showed that the ground base atmospheric particle measurement result may be a lot different from that high above the ground.