• 한국기계가공학회지
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• 제11권2호
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• pp.85-91
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• 2012

Offshore Bridge Crane and Hoist which are used FPSO Ships that can move through self - power and have oil production, store and loading and unloading facilities are increasing demand. These equipments must use Crane safely by pitch and rolling of the high wave. For this, they have to be equipped with high durability and safety. So the advanced shipbuilding industries use a private design system which can be prompt in design and analyze in the first stage. For this study, It was developed a basic design system for "Bridge Crane and Hoist" used on FPSO ships. By developing this automated system for "Bridge Crane and Hoist" design, we will be able to make the design data easy to understand. This basic design system will help reduce the amount of working time it takes to design new systems, construct design databases and get approval for the finished design.

• Coupled systems mechanics
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• 제7권4호
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• pp.485-507
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• 2018

The moving load causes the occurrence of vibrations in civil engineering structures such as bridges, railway lines, bridge cranes and others. A novel engineering method for separation of the variables in the differential equation of the elastic line of Bernoulli-Euler beam has been developed. The method can be utilized in engineering structures, leading to "a beam under moving load model" with generalized boundary conditions. This method has been implemented for analytical study of the dynamic response of the metal structure of a single girder bridge crane due to the telpher movement along the bridge girder. The modeled system includes: a crane bridge girder; a telpher, moving with a constant horizontal velocity; a load, elastically fixed to the telpher. The forced vibrations with their own frequencies and with a forced frequency, due to the telpher movement, have been analyzed. The loading resulting from the telpher uniform movement along the bridge girder is cyclical, which is a prerequisite for nucleation and propagation of fatigue cracks. The concept of "dynamic coefficient" has been introduced, which is defined as a ratio of the dynamic deflection of the bridge girder due to forced vibrations, to the static one. This ratio has been compared with the known from the literature empirical dynamic coefficient, which is due to the telpher track unevenness. The introduced dynamic coefficient shows larger values and has to be taken into account for engineering calculations of the bridge crane metal structure. In order to verify the degree of approximation, the obtained results have been compared with FEM outcomes. An additional comparison has been made with the exact solution, proposed by Timoshenko, for the case of simply supported beam subjected to a moving force. The comparisons show a good agreement.

• 한국구조물진단유지관리공학회 논문집
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• 제24권6호
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• pp.92-101
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• 2020

제한 중량을 초과하는 분리 불가능한 기중기 차량의 통행에 대한 교량 안전성 평가를 위한 합리적인 방법의 개발이 필요하다. 이 연구에서는 최근 도입된 신뢰도기반 도로교설계기준 한계상태설계법 개발에 적용된 동일한 방법을 기중기 차량 활하중계수 보정에 적용한다. 콘크리트 교량을 대상으로 구조해석을 수행하여 기존 설계기준에 의한 소요강도와 현행 설계기준 및 AASHTO LRFD에 의한 소요강도를 비교하고 실교량 단면의 설계강도를 비교하였다. 비계수 활하중 효과를 비교하면, 기중기 활하중이 현행 설계기준의 활하중과 기존 설계기준의 활하중보다 더 컸다. 보정된 활하중계수를 적용한 소요강도를 비교하면, 기존 설계기준의 소요강도가 가장 크고 기중기 활하중 효과는 현행 설계기준의 소요강도와 비슷하다. 기중기 통행 후보 노선 상의 실교량에 대한 안전성 평가 결과는 모든 교량에 대하여 설계기준에서 요구하는 목표신뢰도지수와 동일한 신뢰도를 확보하고 있으며, 실교량 강도는 기중기 통행에 필요한 소요강도보다 커서 대상 기중기 통행에 대한 안전성이 확인된다.

• 대한토목학회논문집
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• 제30권3A호
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• pp.277-286
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• 2010

케이블을 이용하여 장경간을 필요로 하는 교량의 시공은 일반적으로 불완전 한 구조계인 교량의 선단에 데릭 혹은 무한궤도 크레인을 설치하여 수상 및 육상으로 이송되는 교량 상판을 리프팅하여 시공하게 된다. 이와 같은 경우 일차적으로 과도한 크레인의 자중으로 인하여 불완전한 구조계에 결함을 발생시킬 수 있으며, 또한 하부 수송으로 인한 추가 비용 및 공기를 소요하게 된다. 본 연구에서는 이러한 기존 시공방법을 개선하고자 개발된 교량 일 측에 편중 가능하고, 가동 붐을 설치하여 후방 이송 자재를 시공 지점으로 운반, 가설이 가능한 데릭 크레인의 시공 단계를 정의하여 수치해석을 수행하였다. 데릭 크레인의 하중 재하 점을 고정부 4점으로 단순화하였으며, 가동 붐의 수직/수평 회전 범위를 고려하여 반력을 산정하였다. 또한 크레인의 '휴지' 및 '작업 중'의 단계로 나누어 가동 붐 및 강형, PC Slab에 의하여 발생하는 휨 모멘트를 시공단계에 반영하였다. 본 연구에 고려된 데릭 크레인은 접속교를 통한 육상 작업으로 시공 기간 및 비용을 줄일 수 있으며, 크레인 자체의 작은 중량으로 시공 중 재하 하중 감소를 꾀할 수 있다.

• 인문언어
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• 제5권
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• pp.167-192
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• 2003

When Hart Crane′s poem cycle The Bridge was published in 1930, a group of influential reviewers accused Crane of immaturity, sentimentality, and lack of focus. They condemned crane′s wayward, fuzzy mysticism as backwards-looking and self-defeating. Even sympathetic critics, such as Harold Bloom, have consistently portrayed Crane′s poetry as the pyrotechnic final fizzle of late romanticism. These persistent, public reservations, however, have not prevented an impressive proliferation in secondary literature concerning Crane since the late 1960s. His promiscuity, alcoholism, erratic behavior, relative poverty, tragic death, and total commitment to art have since earned him the labels of New World Rimbaud and proto-Beat. His colorful career thus explains in part his retrospective fame. Nevertheless, living hard and dying young do not guarantee artistic immortality. This article poses questions as to why Crane has mattered so much to subsequent generations of U.S. readers and what these readers find so compelling in his poetry. The answer, I would argue, lies in Crane′s idiosyncratic use of language. Far from striving for transparency, he writes in an inimitably obstructive, artificial manner. There is something seductive and absurd in his wild use of words here, I would further argue, we discover the reason behind both Crane′s enduring appeal and his supposed inadequacy as a writer. Crane did "torture" syntax, semantics, and conventional associations, not because he saw his unusual language as an eccentric mannerism but because he saw it as a tool in the service of constructing a "myth of America" and reintegrating the human and divine. Understanding thy he considered this to be the case clarifies Crane′s achievement and illuminates why his work still seems so relevant today.

• 한국전산구조공학회논문집
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• 제21권5호
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• pp.421-427
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• 2008

BIRDI(Bridge Inspection Robot Development Inter)ace)에서 현재 개발된 첨단굴절로봇차는 기존의 굴절차에 비해 소형이며, 12m에 이르는 작업붐으로 인해 교량의 진동, 풍하중 등에 의해 쉽게 진동이 발생할 것으로 예상된다. 본 연구에서는 첨단굴절로봇차의 머신비전 시스템을 통한 점검 성능 확보를 위해 작업붐에 엑츄에이터를 장착하여 유해 진동을 제어할 수 있는 시스템을 제안하였으며, 성능 평가를 위해 수치적, 실험적 연구를 수행하였다. 제안된 제어시스템의 수치적 연구를 위해 현재 제작된 작업붐의 제원을 이용하여 모델링하였고, 적당한 주파수 특성을 가진 하중을 가정하였으며, 최적 제어이론인 LQ 조정기를 설계하였다. 수치해석 결과, 제안된 제어시스템은 작업붐에 발생되는 유해 진동을 저감시킬 수 있었다. 실험적 연구를 위해 작업붐의 축소 모형을 제작하였고 제어시스템을 구축하였다. 또한 실험결과 작업붐의 진동을 짧은 시간에 제어하는 우수한 성능을 보였다. 본 연구를 통해 제안된 시스템의 진동제어 성능을 입증하였으며, 실제 첨단굴절로봇차에 적용될 경우 점검 시스템의 성능을 향상시킬 수 있을 것으로 사료된다.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2008년도 정기 학술대회
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• pp.178-183
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• 2008

A robot crane truck is being developed by the Bridge Inspection Robot Development Interface(BRIDI) for an automated and/or teleoperated bridge inspection. At the end of the telescoping boom allows the operator to scan the bridge structure under the deck trough the camera. Boom vibration induced by wind and deck movement can cause serious problems in this scanning system. This paper presents a control system to mitigate such vibration of the robot boom In the proposed control system an actuator is installed at the end of the working boom. This control system is studied using a mathematical model analysis with LQ control algorithm and a scaled model test in the laboratory. The study indicates that the proposed system is efficient for the vibration control of the robot booms, thereby demonstrating its immediate applicability in the field.

• 한국정밀공학회지
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• 제26권9호
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• pp.88-95
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• 2009

Input shaping has been a very effective control method for reducing payload swing in industrial bridge and gantry cranes. However, conventional input shapers often degrade performance when applied to tower cranes because of the nonlinear coupled dynamics between rotational and radial motions in tower cranes. To alleviate this problem, a new input shaper for tower cranes is developed by means of dynamic modeling, analysis and optimization. This work investigates the tower crane dynamics along with parameters of the tower crane varied. A performance index for input shaper design is proposed so as to reduce the coupled residual vibration of a tower crane using only rotational motion of tower crane. The proposed new input shaper is verified to be effective through simulations and experiments.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.223-233
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• 2007

Crane payloads frequently swing with large amplitude motion that degrades safety and throughput. Open-loop methods have addressed this problem, but are not effective for disturbances. Closed-loop methods have also been used, but generally require the speed of the driving motors to be precisely controlled. This paper develops a feedback control method for controlling motors to cancel the measured payload oscillations by intelligently timing the ensuing on and off motor commands. The effectiveness of the oscillation suppression scheme is experimentally verified on an industrial bridge crane.

• 콘크리트학회지
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• 제27권2호
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• pp.35-38
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• 2015