• Journal of Navigation and Port Research
• /
• v.31 no.8
• /
• pp.697-703
• /
• 2007

In this paper, we focuses on the development of Takagi-Sugeno (T-S) fuzzy modeling in a nonlinear container crane system. A T-S fuzzy model is characterized by fuzzy "if-then" rules which represent the locally input-output relationship whose consequence part is described by a state space equation as subsystem. The T-S fuzzy model in container cranes first obtains a few number of linear models according to operation conditions and blends these conditions using fuzzy membership functions. Parameters of the membership functions are adjusted by a RCGA to have same dynamic characteristics with nonlinear system of a container crane. Simulations are given to illustrate the performance of T-S fuzzy model.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2007.12a
• /
• pp.335-336
• /
• 2007

This paper propose a heuristic method that divides the block into some work regions to operate stacking cranes efficiently in a automated container terminal where the blocks with non-crossing stacking cranes(SC) are laid out in perpendicular to the quay. Typically, fund over between SCS and trucks occur at each side if the blocks, and each if the landside and seaside SCS is responsible for the jobs that occur at its own side. When a container to be fetched is located far from fund over point, the SC should move a long distance and the interference between the two cranes am occur, which decreases the productivity of the SCS. Therefore, our method divides the block into two exclusive and one shared regions and let the containers located far from their fund over points to be transferred to the shared region by the other side crane before they are carried out. Although simple this method am reduce the crane movement and the interference between the two cranes. Simulation experiment shows that our proposed method significantly improves the productivity if the container terminal than previous heuristic that does not divide work regions.

• Journal of Ocean Engineering and Technology
• /
• v.19 no.3
• /
• pp.66-73
• /
• 2005

The sway motion control problem of a container hanging on the trolley is considered in this paper. In the container crane control problem, the main issue involves suppressing the residual swing motion of the container at the end of acceleration, during deceleration, or for an unexpected disturbance input. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system, in which a small auxiliary mass is installed on the spreader. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. In many cases, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called "Structure/Control Simultaneous Method" is used. From this, in this paper the simultaneous design method is used to achieve optimal system performance. And the experimental result shows that the proposed control strategy is useful, to the case of that the controlled system is exposed to the uncertainties and, robust to disturbances like wind.

• Journal of Korea Port Economic Association
• /
• v.26 no.3
• /
• pp.1-17
• /
• 2010

This paper focuses on measuring the efficiency of container yards in container terminals in Busan and Gwangyang using Data Envelopment Analysis (DEA) approach. It analyses the relative efficiency of 11 container terminals based on the data for the period between 2006 and 2009 to offer a fresh perspective. The applied framework assumes inputs to be container cranes, transtainer cranes and yard tractors and output as container transshipment volume. Through the analysis, the differences between the impact of using of container cranes, transtainer cranes and yard tractors, top handler & reach stacker on container yard efficiency are measured. Moreover, the associations between the three input factors are analyzed as well. This paper also employs heteroscedastic Tobit model to show the impact of explanatory variables on container yard efficiencies. I took into consideration the strategies for operation of container cranes, transtainer cranes and yard tractors in container yard.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2005.10a
• /
• pp.319-325
• /
• 2005

The objective of this paper is to forecast the port productivity of container terminal to response very large container ship. In general, the productivity of container terminal is evaluated by productivity of stevedoring system including container cranes, yard cranes, and yard tractors. Therefore, we analyzed the current productivity of container crane as port productivity in Pusan ports and forecast net productivity and gross productivity of container cranes to handle the containers cf very large container ship. In order to improve the productivity, we summarize alternatives of stevedoring system and operation system.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.23 no.3
• /
• pp.283-288
• /
• 2010

Mobile harbor is characterized by the lightweight compact structure when compared to the conventional above-ground port container crane. A new concept RORI crane system, which was devised for mobile harbor to satisfy the compactness and light weightness, not only can load/unload containers with high speed on sea but can be completely folded at maneuvering mode. This study is concerned with the tip deflection of the horizontal boom of mobile harbor at container loading operation. Both the theoretical method utilizing the Castigliano's theorem and the numerical approach by finite element method are employed, and the reliability of the latter approach is verified through the comparison with the theoretical results. And then, the effect of the initial cable tension on the tip deflection is parametrically examined by the finite element analysis.

• Journal of Korean Port Research
• /
• v.12 no.1
• /
• pp.113-118
• /
• 1998

The Container crane is mainly used in the harbor. But in spite of this wide use, it is a fact that there are still areas for automation, concerning the operator and the control system. If the encoding function is enhanced, then control effect can be increased to some extent. Since the distance from the hoist to the trolley cam be measured, the moving distance from the loading and unloading can be minimized. If this is applied to the real system, hazard elements can be eliminated and in given time since more unloading can be done, congestion can be reduced.

• Journal of Navigation and Port Research
• /
• v.30 no.6 s.112
• /
• pp.525-531
• /
• 2006

In the port, the yard crane is very important. If a container crane or a transfer crane is broken down, it costs a lot because of the delay of work during the period of repair or reorder. But, we don't have enough spare parts because of the high cost. It is necessary to maintain high reliability of the crane through effective preventive maintenance and failure analysis. In this paper, we analyse the function and failure mechanism of the transfer crane which is a main equipment in the yard Also, we standardize failures and maintenance works using the historical data of failure and maintenance. This study which is a basic work for effective equipment operation and maintenance will support reliability engineers to decide the optimal design of the next generation equipment and operational policy of equipment.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2006.06b
• /
• pp.363-366
• /
• 2006

In the port, Yard Crane is very important. If container crane or transfer crane broke down, it costs much money for delaying of work during the period of repair or reorder. But, we can not have enough spare parts for its high cost. It is necessary for having the reliability of crane through the effective preventive maintenance and failure analysis. In this paper, we analysed the system's function and failure mechanism of transfer crane which is main equipment in the yard. Also, we standardized the failure and maintenance work using the historical data of failure and maintenance. This study which is the basic work for IT of equipment operation and maintenance is going to be new attempt for optimal design of next generation equipment and operation policy of equipment.

• International Journal of Control, Automation, and Systems
• /
• v.1 no.1
• /
• pp.43-53
• /
• 2003

A modified command shaping control to reduce residual vibrations at a target position and to limit the sway angle of the payload during traveling for container crane systems is investigated. When the maneuvering time is minimized, a large transient amplitude and steady state oscillations may occur inherently. Since a large swing of the payload during the transfer is dangerous, the control objective is to transfer a payload to the desired place as quickly as possible while limiting the swing angle of the payload during the transfer. The conventional shapers have been enhanced by adding one more constraint to limit intermediate sway angles of the payload. The developed method is shown to be more effective than other conventional shapers for prevention of an excessive transient sway. Computer simulation results are provided.