• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.721-726
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• 1989

A control system was developed for raw material yards of the works of a metal industry. It is devoted to the automatic operations of the raw material yards stackers, and to the improvement of the stacking method to stack granular coal uniformly. The system automatically controls the stacking operations without human intervention, and also prevents any collision between cranes, stackers, jibloaders and the level-roughing cranes.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2076-2078
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• 2002

This paper presents an Intelligent Balance Beam Controller(IBBC) which can estimate the inertia of load automatically. Balance Beam controller is a kind of construction tool which can control the attitude of the load hanging in the air such as a beam carried by crane. In our previous work, Balance Beam had been built to control the object in air using a mechanical gyro system having a position controllable gimbal structure. In field application the load inertia for operation is not easy to figure out because the weight and shape which determines the inertia, varies depending on the object to be carried. Therefore it is difficult for a worker to operate a Balance Beam and an accident could be caused occasionally. We designed an automatic load estimator to measure the inertia of arbitrary load by using an angular velocity sensor that is installed on the Balance Beam. Simulation results and current status for implementation are presented.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.4
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• pp.11-19
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• 1996

Recently, fuzzy and neural network techniques have been successfully applied to control of complex and ill-defined system in a wide variety of areas, such as robot, water purification, automatic train operation system and automatic container crane operation system, etc. In this paper, we present a neuro-fuzzy controller which unifies both fuzzy logic and multi-layered feedforward neural networks. Fuzzy logic provides a means for converting linguistic control knowledge into control actions. On the other hand, feedforward neural networks provide salient features, such as learning and parallelism. In the proposed neuro-fuzzy controller, the parameters of membership functions in the antecedent part of fuzzy inference rules are identified by using the error backpropagation algorithm as a learning rule, while the coefficients of the linear combination of input variables in the consequent part are determined by using the least square estimation method. Finally, the effectiveness of the proposed controller is verified through computer simulation of an inverted pendulum system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.121-126
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• 2002

This paper introduces a method that can get information for the movement of a spreader and skew in order to drive ALS(Automatic Landing System) in the crane used at the harbor. Some methods that use 3D laser scanner sensor or laser range finder to obtain the information in ALS are used presently. But these have some defects respectively in economical efficiency and performance. Therefore, to recover these defects, we propose a method acquiring the information for the movement of a spreader and skew using CCD camera for image processing and laser range finder

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2007.11a
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• pp.177-181
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• 2007

The construction industry is still more labor-intensive than other manufacturing industries. Because of that, it is recognize as a 3D industry. So, many researches to solve it increase to apply robots as to construction sites. Robots are recognized to alleviate the problem of construction industry as the alternative. Therefore in this study, automatic construction system for high-rise building based on robots is developed with high profit as a better research than Japanese it which have gone in advance of robot technology in the world.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.5
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• pp.471-479
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• 2006

Automatic transfer equipments of manufacturing and process line trend toward big size as LCD glass is big size, heavy weight. The conventional stocker uses rotational motor and mechanical power converter device as travel axis of stocker crane and then frequent maintenances by complex structure and mechanical friction are required. Also it has problem to minimize the particle generation. To solve these problems, this paper verified the performance of permanent magnet(PM) excited transverse flux linear motor(TFLM) that is big power density per unit volume applied for travel axis of 7 generation stocker that is being big size, high power, long distance by the experiment based on proposed control algorithm, controller and power converter device.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.61-72
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• 2005

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications

• Journal of Navigation and Port Research
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• v.28 no.4
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• pp.323-331
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• 2004

This paper introduces a novel approach that can provide the three dimensional information about the movement of a spreader by using two CCD cameras and a laser distance measuring unit in order to derive ALS (Automatic Landing System) in the crane used at a harbor. So far a kind of 2D Laser scanner sensor or laser distance measuring units are used as comer detectors for the geometrical matching between the spreader and a container. Such systems provide only two dimensional information which is not enough for an accurate and fast ALS. In addition to this deficiency in performance, the price of the system is too high to adapt to the ALS. Therefore, to overcome these defects, we proposed a novel method to acquire the three dimensional spreader information using two CCD cameras and a laser distance measuring unit. To show the efficiency of proposed method, real experiments are performed to show the improvement of accuracy in distance measurement by fusing the sensory information of the CCD cameras and a laser distance measuring unit.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2456-2458
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• 2003

Recently, an automatic crane control system is required with high speed and rapid transportation. Therefore, when container is transferred from the initial coordinate to the finial coordinate, the container paths should be built in terms of the least time and without sway. Therefore, we calculated the anti-collision path for avoiding collision in its movement to the finial coordinate in this paper. And we constructed the neural network predictive two degree of freedom PID (NNPPID) controller to control the precise navigation. The proposed Predictive control system is composed of the neural network predictor, two degree of freedom PID(TDOFPID) controller, neural network self-tuner which yields parameters of TDOFPID. We analyzed crane system through simulation, and proved excellency of control performance over the conventional controllers.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.3
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• pp.627-633
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• 2007

This paper describes position tracking system of a container trailer approaching to a gantry crane for loading or unloading a container into or from a ship, respectively. Proposed position tracking system informs the trailer driver of right position to stop the car under a gantry crane. To measure the location of a trailer, we used Cricket Mote modules which adopted RF and ultrasound technology. We present an elaborate method to improve position errors occurring at sensing and calculate three dimensional position by triangulation along with how to reduce location tracking interval for real-time monitoring. The location information was transmitted to a Personal Digital Assistant (PDA) periodically through Bluetooth communication for guidance of the trailer driver. In indoor and outdoor tests, position errors were less than 3 cm and location tracking interval was 0.5 second on average.