• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.709-716
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• 2005

As a way to build more efficient and intelligent container cranes for todays hub ports, communication networks are used to interconnect numerous sensors, actuators, controllers, and operator switches and consoles that are spatially distributed over a crane. Various signals such as sensor values and operator's commands are digitized and broadcast on the network instead of using separate wiring cables. This not only makes the design and manufacturing of a crane more efficient, but also easier implementation of intelligent control algorithms. This paper presents the performance evaluation of CAN(Controller Area Network), TTP(Time Triggered Protocol) and Byteflight that can be used for cranes. Through discrete event simulation, several important quantitative performance factors such as the probability of a transmission failure, average system delay (data latency) and maximum system delay have been evaluated.

• Journal of Navigation and Port Research
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• v.31 no.7
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• pp.605-611
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• 2007

In order to become a mega hub port, major ports all over the world are making every effort to enhance their productivity through efficiency of internal operation. Accordingly, in order to enhance the competitiveness of a container terminal, an automated container terminal is considered as the best alternative. An automated container terminal is using such automated handling equipment as AGV(Automated Guided Vehicles) and ATC(Automated Transfer Crane). The efficient equipment operation plays a critical role in enhancing the productivity of an automated container terminal. In an automated container terminal, the most important equipments are AGV and ATC. Each block of containers with a vertical layout is generally operating two ATCs. The two ATCs can be crossed or not at each block. In the case of operating crossover ATC, it has an advantage of high flexibility that ATC work is possible at both TP(Transfer Point) of each block. But it has also a disadvantage that the yard has to be operated at a low storage level of containers in the terminal yard. Recently, for automated container terminals, which are being prepared for opening in Korea, they plan to use uncrossed twin ATC in order to make the storage level of their yards high at a low cost. Therefore, studies have to be made in order to increase the efficiency of twin ATC system based on the flexibility that the crossover ATC system has. This research aims to suggest an operation strategy to improve efficiency of twin ATC at each storage block in a yard.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.41-48
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• 2002

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1688-1692
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• 2003

The automatic Landing system is used for the automatic functions of automatic transfer crane in the automated container terminal. It confirms and adjusts the alignment and pose between spreader and container and accomplishes the automatic loading/unloading job of containers in yard. Specially, it is required in the automated container terminal and is well adapted under the coarse external environments. This system used the laser sensors to recognize the alignment between spreader and container. In this paper the algorithm of recognition of the alignment and pose is presented and the result of its simulation is shown.

• Journal of Navigation and Port Research
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• v.29 no.3 s.99
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• pp.251-256
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• 2005

Today's port system,; require larger and faster operation of transfer cranes in order to accommodate rapidly increasing traffic. These cranes need precise control of their components for operational efficiency. This paper presents an IEEE 1451 based smart module that allows numerous sensors and actuators of the crane to attach themselves to various networks more easily. The smart module has been experimentally evaluated on a CAN network for its performance.

• 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 Korean Society for Quality Management
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• v.16 no.2
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• pp.99-110
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• 1988

This study is concerned with a design algorithm to minimize the investment as well as maximize the throughput in automated warehouse system. A simulation model is designed and a solution methodology is proposed. The experiment, are conducted for the cases with 100, 90, 80, 70, 60, 50 and 0 % dual command policies in terms of the important factors such as the crane velocity, the height of system and the rack utilization. The results indicate that the throughput is slightly decreased when the ratio of dual command is decreased and the other characteristics however are not affected. The result also shows that the optimal rack should be designed for a crane to take the same amount of travel time for horizontal and vertical movement.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.526-529
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• 2002

The development of automated container terminal has been a hot issue for recent years. It's very natural because it's very important how many containers, how soon, and how precisely a container terminal can treat. A crane treats a very heavy container, maybe, no less than 20∼40 tons, thus most cranes use ropes to take up and land containers. But rope causes the sway of a container and this phenomenon is not avoided. On the ground of this, in most case how much skillful a driver is may affect the productivity of a yard or quay crane. Thus many researches have been concentrated on the development of the control algorithm for a crane which may be useful and robust enough to drive a crane without any human driver. Authors of this paper also are interested in this kind of research but we have been much more interested for years in the development of a mechanical structure which may cause much less sway than the existing cranes do. In this paper, we may introduce the basic structure of the developed anti-sway system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.446-449
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• 1997

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes arc passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. :opes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-sidc container cranes. In this paper, we derive cquatlons of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• Journal of Intelligence and Information Systems
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• v.12 no.3
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• pp.47-65
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• 2006

These days, the number of automated container terminals is increasing to encourage the productivity of the container terminal inside and outside of the country. So far, there have been a lot of researches on the operating one type of equipments in a container terminal. However, there is still room for further improvement as none of equipment works itself but cooperate each other to finish a job, which means synchronization among the equipments is necessary. Among lots of equipments in a terminal, this paper concerns with the operation of ATCs (Automated Transfer Crane) and YTs (Yard Truck). The purpose of this paper is to find the efficient heuristic methods for operating ATCs and YTs that can set up a schedule in a real time. Moreover, using simulation this paper shows the efficient stacking strategy to decide the location of containers to be put and the proper selection range of YTs.