• Proceedings of the Korea Society for Simulation Conference
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• 2005.05a
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• pp.57-63
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• 2005

The purpose of this paper is to analyze transport ability of AGV(Automated Guided Vehicle) and SHC(SHuttle Carrier). The main difference between two types of transport vehicles is that AGV depends on container crane or transfer crane to do loading/unloading container, but SHC is very independent to it. Therefore, the transport ability of SHC is expected to be higher than AGV, So, in this paper, we established simulation model to evaluate two types of transport vehicles and analyzed the results. Simulation model was established to automated container terminal with perpendicular yard layout, and applied closed loop operation of transport vehicle between apron and stacking yard. In the result, SHC showed very superior than AGV aspect of container crane productivity and vehicle fleets,

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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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.

• 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 Navigation and Port Research
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• v.31 no.8
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• pp.705-710
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• 2007

The productivity of automated container terminals is significantly affected by not only the speed related performances of automated transfer cranes(ATCs) but also the sizes of container blocks. In this paper, it is discussed how to determine the size of import container blocks considering both the container handling times of an ATC and their storage space. Firstly, evaluation models are suggested for the container handling times of an ATC in a typical import container blocks. Secondly, three mathematical formulations are suggested to determine the size of import container blocks. Numerical experiments for the suggested models to determine the size of import container block are provided.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.63-70
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• 2002

The main subject to become a hub pen is automation The automated container terminal has already operated in advanced pons and it bas been planned for the basic planning and operation design in domestic case. The key of automated container terminal is effective operation of both ATC(automated transfer crane) and AGV(automated guided vehicle) which is automated handling equipments. This is essential to productivity of automated container terminal. This study suggests the moat optimal method of equipment operation in order to minimize loading time using each three types of effective AT operation methods and AGV dispatching rules in automated container terminals. As the automated equipment operation causes unexpected deadlocks or interferences, it should be proceeded on event-based real tine. Therefore we propose the most effective ATC operation methods and AGV dispatching rules in this paper. The various states occurred in real automated container terminals are simulated to evaluate these methods. This experiment will show the most robust automated equipment operation method on various parameters(the degree of yard re-marshaling, the number of containers and the number of AGVs).

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.11a
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• pp.203-208
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• 2004

The objective of this study is to analyze the efficiency of marshalling work using ATC(automated transfer crane) for ACT(automated container terminal). It is important fact to assignment of containers, because the character of ACT which block layout is vertical for berth and there are four other works which are inbound, oubound, loading and unloading in one block. And then there is need which assignment of containers with remarshaling work using ATCs in one block. Therefore, we analyze the efficiency of remarshaling work using simulation and suggest the assignment methodology of containers in yard

• Journal of Navigation and Port Research
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• v.30 no.3 s.109
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• pp.235-240
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• 2006

This study analyzed equipment operation strategy of ATC(Automated Transfer Crane) in order to development efficiency ATC operation logic for apply to domestic ACT(Automated Container Terminal). Improving productivity of ACT developed dynamic operation logic and established dispatching rule. As a result of simulation experiment reduced waiting time and interference time of ATC. Thus, we can improve productivity of ACT using dynamic operation logic and interference avoidance strategy.

• Journal of Navigation and Port Research
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• v.29 no.6 s.102
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• pp.555-560
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• 2005

Recently, many control systems are replaced with digital control systems in an effort to optimize the overall performance. In order to operate these systems efficiently, the conventional point-to-point connection method must be changed to the signal exchange via a communication network. This paper investigates the technical feasibility of the crane system using CAN protocol which is a part NMEA 2000 by implementing a network-based control system emulating the crane control system.

• Journal of Ocean Engineering and Technology
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• v.20 no.5 s.72
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• pp.57-62
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• 2006

The most important thing in acontainer terminal is to handle the cargo effectively in the limited time available. To achieve this objective, many strategies have been introduced and applied. To create an automated container terminal, it is necessary for the cargo handling equipment to be equipped with more intelligent control systems. From the middle of the 1990's, automated rail-mounted gantry cranes (RMGC) and rubber-tired gantry cranes (RTG) have been widely used to handle containers in yards. Recently, many pieces of equipment, like CCD cameras and sensors, have beenmounted in these cranes to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes, which allow for more effective cargo handling in yards. For this purpose, the modeling, 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 modeling and a new tracking control approach are discussed, and an experimental study is performed based on a two-degree-of-freedom (2DOF) servosystem design.

• 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.