• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2005년도 춘계학술대회 논문집
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• pp.74-81
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• 2005

In this study, we introduce a 3D simulation model to support the design on ACT(Automated Container Terminal) using 3D animation. The developed simulation model simulate virtual operations of ACT and animate the simulated results with real time. We provide several validation points for the design of ACT. And the developed system applied an object-oriented design and C++ programming to increase the reusability and extensibility. We can perform the various simulation experiment and analyze performances to estimate the required number of equipment using developed simulation model.

• 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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2019년도 추계학술대회
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• pp.216-217
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• 2019

해운 시황이 악화함에 따라 해운선사는 컨테이너선의 대형화를 촉진함으로써 규모의 경제 를 실현하고자 한다. 이에 컨테이너터미널 운영사는 신속한 서비스를 제공하며 많은 물동량을 유치하고자 자동화 장비와 시스템 도입을 통하여 허브항만으로 자리 잡고자 한다. 이처럼 선진 컨테이너터미널은 자동화 도입과 개발의 증가로 생산성과 효율성을 향상하며 경쟁력을 강화하고 있지만, 국내는 반자동화에 머물러있는 실정이다. 따라서 관련 주체별을 대상으로 설문 조사를 통한 인식 차이 분석을 위하여 SPSS 23.0 프로그램을 활용하여 향후 컨테이너터미널 자동화의 원활한 도입을 위한 이해관계자 간의 인식을 확인하고자 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1743-1746
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• 2003

Automated Container Terminals have been being developed over the world for many recent years and more and more countries get interested in it because the amount of containers exported or imported is steeply increasing. Existed Container Terminals were not designed to control this kind of heavily many containers. They would face many structural problems soon or later, although they have managed to do well until now. One of the most important things in developing Automated Container Terminal is to develop the equipment able to transfer the awfully many containers. Those are maybe Automated Transfer Cranes, Automated Guided Vehicles, and Automated Quay-Side Cranes. The word "Automated" means the equipment is operated without drivers and those equipments are able to work without taking any break. Through the researches on the existed transfer cranes, authors decided that the structure of existed transfer cranes is not proper to swift and fast transfer and it′s not impossible to handle so many containers in limited time. Therefore authors have been studying on the proper structure of the Automated Container Crane for past several years and a new type of transfer crane has been developed. Design concepts and control methods of a new crane will be introduced in this paper.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2005년도 추계학술대회 논문집
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• pp.255-261
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• 2005

본 연구에서는 수직블록배치형의 자동화 컨테이너 터미널을 대상으로 컨테이너 운반작업을 담당하는 2가지 유형의 이송장비인 무인이송차량(AGV)과 2단 적재차량(DSV)에 대한 이송능력을 분석하였다. AGV와 DSV의 주요 차이점은 안벽과 야드간의 컨테이너 운반시 적재용량이다. 기존의 자동화 터미널에 적용되고 있는 AGV은 20피트 컨테이너 2개 또는 40피트 컨테이너 1개의 적재용량을 가지지만, DSV는 20피트 컨테이너 4개 또는 40피트 컨테이너 2개를 동시에 적재할 수 있어 터미널 하역시스템의 효율성을 높일 수 있을 것으로 기대된다. 이에, 본 연구에서는 컨테이너 터미널의 이송장비 대한 처리능력을 분석할 수 있는 시뮬레이션 분석도구를 개발하여 이를 토대로 2가지 유형의 장비인 AGV와 DSV의 이송능력을 분석하였다. 본 연구의 결과로 실험대상 예제와 장비 생산성값이 제시되었다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 추계학술대회
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• pp.203-208
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• 2004

본 연구의 목적은 시뮬레이션을 통하여 자동화 컨테이너터미널의 ATC에 의한 이적작업의 효과를 분석하는 것이다. 자동화 컨테이너터미널은 수직배치의 장치장 형태이며 한 블록에서 반입, 반출, 양하, 적하의 네가지 작업이 발생하게 되므로 운영측면에서 장치장 할당이 매우 중요한 문제이다. 그러므로 효율적인 장치장 운영을 위해서 ATC에 의한 한 블록내에서의 이적작업이 반드시 필요하다. 시뮬레이션 실험을 통하여 이적작업의 효율성을 분석하고 장치장 할당에 관한 방법을 제시한다.

• 한국항해항만학회지
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• 제30권3호
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• pp.235-240
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• 2006

본 연구에서는 국내에 개발예정인 자동화터미널에 적용가능한 효율적인 ATC 운영로직을 개발하기 위해서 ATC 장비 운영전략을 분석하였다. 그리고, ATC의 효율적인 운영에 있어서 가장 중요한 동적운영로직을 개발하고, 단순한 할당규칙을 수립하여 시뮬레이션 실험으로 로직검증을 하였다. 실험결과 ATC 생산성 저해요인인 간섭을 최소화하는 간섭최소화전략과 능동적인 간섭회피전략이 ATC의 대기시간 및 간섭시간을 감소시키는 것으로 나타났다. 본 연구의 결과로 ATC의 운영효율성을 향상시켜서 자동화터미널의 생산성을 향상시킬 수 있을 것으로 기대된다.

• 동력기계공학회지
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• 제12권6호
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• pp.42-49
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• 2008

The most important job in the container terminal area 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. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• 한국항만학회지
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• 제12권2호
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• pp.243-250
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• 1998

This study is to find subjects for the Automated Container Terminal(ACT) development and container terminal system. Also we analyze the present condition of the container terminal system in Pusan port and its automation level by systems approach. And this paper aims at evaluating on the priority of R&D investment until the beginning of the second stage of New Pusan Port Project(2006). In this process we have considered 8 evaluation indexes(cost, labor, area, time, volume, reliability. safety, convenience) to analyze 6 subsystems. The priority of R&D until target year by sub-systems is as follow: 1. Cargo Handing System, 2. Transfer System, 3. Port Entry System, 4. Storage System (Distribution & Manufacturing System included), 5.Inland Transport System, 6.Port Management & Information System.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.746-751
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• 2004

Demands for higher productivity in container terminal environments continues to escalate consideration of equipment upgrades. And then transportation of containers using the automated container crane becomes more and more important for productivity enhancements. Introducing a hybrid control architecture to the container crane, it provides a effective means to the automated operation of the container crane. This paper addresses the methodology for automation of container cranes. In addition, this paper proposes a new control architecture for the automated container crane and explains each component of that architecture. The control architecture is composed of a deliberative control layer, a sequencing layer, and a reactive control layer. The proposed architecture is applied to a dual-hoist double-trolley container crane.