• 한국산업융합학회 논문집
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• 제2권2호
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• pp.165-172
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• 1999

Crane operation for transporting heavy loads causes swinging motion at the loads. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. Generally crane is operated by expert's knowledge. Therefore, a satisfactory control method to supress object sway during transport is indispensible. The dynamic behavior of the crane shows nonlinear characteristics. when the length of the rope is changed the crane is time varying system and the design of anti-sway controller is very difficult. In this paper, the nonlinear dynamic model for the industrial overhead crane is derived. and the feedback gain matrix based on the pole-placement method is proposed to supress the swing motion and control the position of the crane. The performance of the controller for the crane model is simulated on the personal computer.

• 대한금속재료학회지
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• 제48권6호
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• pp.489-497
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• 2010

The remaining life estimation of the level luffing crane component, which has operated for about 20 years is examined carefully, especially on the crane structures. To analyse the crane sructures, the basic load and load combination needed to be considered. We modeled various parts of the level luffing crane to analyse fatigue. Fatigue analysis results showed that the level luffing crane is in the fatigue life so that the crane is in the safe state in fatigue cumulative damage. Analysis results show that the remaining life of a jib upper beam would be about 10 years therefore, the level luffing crane should be stable for fatigue for that period.

• 한국건설안전학회 논문집
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• 제2권1호
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• pp.1-8
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• 2019

현재 건축물의 높이가 높아지고 우리나라 가구 형태가 개인 주택에서 아파트로 변화함에 따라 타워크레인의 사용 횟수는 계속해서 증가하고 있다. 그러나 이처럼 증가하는 타워크레인 사용 횟수에 반해 우리나라 타워크레인 관련 정책은 매우 미비한 실정이다. 특히 타워크레인과 관련된 사고의 원인 중 가장 큰 비중을 차지하는 타워크레인 연식에 대한 기준은 그 설정 근거가 부족하다. 따라서 본 연구에서는 이와 같은 문제점에 주목하여 타워크레인의 보다 신뢰성 있는 타워크레인의 연식을 설정하는 연구를 진행한다. 이를 위해 본 연구에서는 기존 연구에서 사용했던 사례와 영국 타워크레인 기준을 바탕으로 사용 연식을 설정한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.545-550
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• 2001

This paper studied on the lateral motion and yaw motion of the gantry crane that is used for the automated container terminal. Though several problems are occurred in driving of the gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operator. There are two types, cone and flat type in driving wheel shape. In cone type, the lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of two driving wheels are derived. Then, we investigate the driving characteristics of gantry crane. In this study, the proposed controller, based on Model Based Controller, is used to control the lateral displacement and yaw angle of the gantry crane. And the availability of the proposed controller is showed through the comparison with the result of the proposed controller and PD controller. The simulation results of the driving mechanism, using the Runge-Kutta Method that is one of the numerical analysis methods, are presented in this paper.

• 대한기계학회논문집A
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• 제21권10호
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• pp.1683-1693
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• 1997

In this paper, a new nonlinear dynamic model is derived for a 2-dimensional overhead crane based on a new definition of 2-degree-of-freedom swing angle, and a new anti-swing control law is proposed for the crane. The dynamic model and control law take simultaneous travel and traverse motions of the crane into consideration. The model is first linearized for small motions of the crane load about the vertical stable equilibrium. Then the model becomes decoupled and symmetric with respect to the travel and traverse axes of the crane. From this result, a decoupled anti-swing control law is proposed based on the linearized model via the loop shaping and root locus methods. This decoupled method guarantees not only fast damping of load-swing but also zero steady state position error with optimal transient response for the 2-dimensional motion of the crane. Finally, the proposed control method is evaluated by controlling the simultaneous travel and traverse motions of a 2-dimensional prototype overhead crane. The effectiveness of the proposed control method is then proven by the experimental results.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2002년도 추계공동학술대회논문집
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• pp.113-119
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• 2002

최근에, 자동화 크레인 제어 시스템은 빠른 속도와 신속한 수송이 요구되어 지고 있다 컨테이너 야드 내에서 크레인 시스템의 동작 동안, 스프레더에 매달린 컨테이너의 흔들림은 최소화로 되도록 크레인의 트롤리 위치와 와이어 로프 길이 제어가 필요하다. 크레인 시스템에서 자동 주행 제어 기술과 흔들림 방지 기술을 사용하여 무인 자동화 제어 시스템의 개발을 할 수 있는 핵심 기술이다. 그 결과 우리는 트랜스퍼 크레인 시스템 제어에서 자동 주행 제어를 위한 제어기를 설계하였다. 크레인 시스템을 통한 시뮬레이션 분석에서 다른 기존의 제어기들보다 우수한 제어 수행을 증명하였다.

• 대한안전경영과학회지
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• 제18권3호
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• pp.33-45
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• 2016

Construction sites have gradually become bigger and bigger according to Korea economic growth. Also use of tower crane and other heavy equipment has been increased. The increased use of heavy equipment like tower crane is leading to fatality incident. This study will verify hazards to influence tower crane incident through structural and positive verification and find which hazard influence incident risk. The result of this study is as follows. First, while there is a significant difference between safety managers and tower crane operators for working environment, safety management, personal manage among risk factors, we can not find any evidence on the difference in perception of tower crane incident risk between them. Second, task manage risk and personal manage risk has a significant positive effect on perception of tower crane incident risk. Third, while site environment risk has a significant positive moderating effect of task type between risk factors and perception of tower crane incident risk, personal environment risk has a significant negative moderating effect between them.

• 대한조선학회 특별논문집
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• 대한조선학회 2015년도 특별논문집
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• pp.34-40
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• 2015

The design, procurement and fabrication of FPSO project ordered by Inpex Browse, Ltd. have been currently carried out by DSME(Daewoo Shipbuilding Marine and Engineering Co.). The unit will be installed and operated in the Ichthys field offshore of North-Western Australia and there are the particular design requirements to do with performance on the environment loads corresponding to max. 10,000 years return period wave. Also, the operational life of FPSO has to be over 40 years. With this background, this paper introduces the structural design procedure of crane pedestal foundation operated in north-western Australia offshore. The design of crane pedestal foundation structure is basically based on international design code (i.e. API Spec. 2C), Classification society's rule and project specifications. The design load cases are mainly divided into the crane normal operating conditions and crane stowed conditions according to environment conditions of the offshore with 1-year, 5-year, 10-year, 200-year and 10,000-year return period wave. This design experience for crane pedestal foundation operated in north-western Australia offshore will be useful to do engineering of other offshore crane structures.

• 대한안전경영과학회지
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• 제23권3호
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• pp.1-9
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• 2021

Crane is an important equipment for the transport of heavy goods in industrial sites, but it is also known as one of the most fatal machines. In order to reduce crane accidents, it is necessary to minimize human errors during crane operations. To achieve this, ergonomic design principles are recommended to be reflected from the crane design stage. The study analyzed the safety certification standards for crane that should be fulfilled at the crane design and manufacturing stage. This study selected five representative ergonomic design principles (feedback, compatibility, consistency, full-proof, and fail-safe) by surveying heuristic evaluation principles that are widely used for usability evaluation in early design stage. Next, the principles were applied to the safety certification standards to identify insufficient clauses. This study identified 12 insufficient clauses out of 119 in the current safety certification standards for crane and discussed their improvement directions to comply the ergonomic principles. The analysis results of this study can help of improving the safety certification standards and the method used in this study can also be applied to identify insufficient clauses in the safety certification standards for other industrial machines such as press machine and lift.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1991년도 가을 학술발표회 논문집
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• pp.111-114
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• 1991

The KMRR 4-wheel crane which has a span of 30.6m long shall be designed to maintain its structural integrity during and after seismic shocks. Horizontal and vertical FRS for OBE and SSE conditions at the crane support are after seismic shock. Horizontal and vertical FRS for analysis are 4% for OBE and 7% for SSE. The crane consists of girder, saddle main and auxiliary trolley, and necessaries. They are modeled as beam elements and lumped masses for the following 4 cases ; trolley at center of the crane with and without the rated load, trolley at end with and without the rated load. The static analysis as well as the linear dynamic analysis including frequency and response spectrum analysis are performed for the seismic qualification of the crane using the Finite Element Method. For the simplicity of the analysis, the decoupling criteria are considered for the crane rope and the crane supporting beams. The main sections of the crane are stiffened until the calculated stresses satisfy the allowable limits. The seismic resultant loads are used to design the seismic restraints of the saddle and the trolley to protect the clue from the seismic uplifting loads the study results have show that the seismic design of the KMRR crane is governed by the OBE condition. not by the SSE condition. This paper briefly describes the analysis procedure used in the seismic design of the KMRR crane, and summarizes the analysis results.