• 한국안전학회지
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• 제32권1호
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• pp.90-97
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• 2017

Overhead cranes are the most widely used and have been identified as one of the main causes of fatal accidents. Although structural, mechanical and electrical safety standards for overhead cranes have been established to some extent, ergonomic standards related to crane controllers are rarely established. As a result, many crane accidents are reported to be caused by operator's error. To investigate the actual use of crane controllers in the industrial field, we surveyed 82 overhead cranes in 15 workplace and interviewed workers operating them. This study has presented the ergonomic problems related to the crane controllers in the field. As a result of investigation, it was found that the direction control signs, the sign language, and the button layout on the pendant switches and remote controllers are not standardized, which can cause a human error. To reduce human errors in overhead crane operation, ergonomic standards for controllers should be reflected on the government legislation or standards.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.703-707
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• 2000

This paper studied on the lateral motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But, if the gantry crane is unmanned, it is automatically controlled without any human operation. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to these problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane are derived. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and the yaw angle. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.336-336
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• 2000

This paper studied on the yaw motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But if the gantry crane is unmanned, it is automatically controlled without any human operation. There are two types, cone and flat typo in driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. To bring a solution to these problems, the dynamic equation of the gantry crane driving mechanism is derived and it used PD(Proportional-Derivative) controller to control the lateral vibration. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• 한국항만학회지
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• 제12권2호
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• pp.217-224
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• 1998

During the operation of crane system in container yard, the objective is to transport the load to a goal position as quick as possible without rope oscillation. The container crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. Therefore, we developed an optimal controller which has to control the crane system with disturbances. In this paper, we present a design of optima 2-DOF PID controller for the control of gantry crane which has to control swing motion and trolley position. We used evolution strategy(ES) to tune the parameters of 2-DOF PID controller. It was compared with general PID controller. The computer simulations show that the proposed method has better performances than the other method.

• 국제학술발표논문집
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• The 5th International Conference on Construction Engineering and Project Management
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• pp.74-79
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• 2013

Aiming at reducing deaths and injuries involving construction crane operations, OSHA has recently updated its 40-year-old crane safety standards with new rules addressing the use of cranes and derricks in construction. The goal of this change in rule is to deal with the leading causes of fatalities related to crane and derrick operations. Employers in the construction industry are mandated to ensure that employees in the work zone are trained to recognize hazards associated with the use of the equipment and any related duties that they are assigned to perform. However, those responsible at construction sites for the supervision and management of safe crane operations often lack the integrated knowledge of the standards, regulations and best practices for conducting or supervising daily, monthly, or quarterly inspection of cranes. As such, proper planning, management and implementation of crane operations, including inspections are just as paramount to reducing accidents on the construction site. It is important that engineers responsible for the management and planning of crane operations understand the latest OSHA crane and hoisting standards to ensure a safer work environment is maintained. Many on site engineers overseeing crane operations do not have adequate training, experience, and knowledge of the inspection requirements to assess safe crane operation and too often rely on the crane operator's judgement. This paper highlights recent research effort in defining significant changes in new crane and hoisting standards and provides basis for safety construction operations.

• 센서학회지
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• 제33권1호
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• pp.18-23
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• 2024

Humanoid robots, designed to interact in human environments, require stable mobility to ensure safety. When a humanoid robot falls, it causes damage, breakdown, and potential harm to the robot. Therefore, fall detection is critical to preventing the robot from falling. Prevention of falling of a humanoid robot requires an operator controlling a crane. For efficient and safe walking control experiments, a system that can replace a crane operator is needed. To replace such a crane operator, it is essential to detect the falling conditions of humanoid robots. In this study, we propose falling detection methods using Convolution Neural Network (CNN) model. The image data of a humanoid robot are collected from various angles and environments. A large amount of data is collected by dividing video data into frames per second, and data augmentation techniques are used. The effectiveness of the proposed CNN model is verified by the experiments with the humanoid robot MAX-E1.

• 한국건축시공학회지
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• 제20권6호
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• pp.497-504
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• 2020

국내 건설 현장 타워크레인의 사용량 증가에 따른 재해 감소를 위한 연구가 진행되고 있지만 무인타워크레인에 대한 연구는 미비한 실정이다. 따라서 본 연구에서는 타워크레인 유형별 사고 요인의 중요도 순위를 AHP 분석을 통해 도출하여 제시하고자 한다. 분석 결과 무인타워크레인에서 인양 작업이 가장 높은 중요도를 보였다. 본 연구 결과를 바탕으로 중요도가 높은 요인을 우선적으로 관리하여 타워크레인 사고 저감을 위한 조치가 필요할 것으로 사료된다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1998년도 추계학술대회논문집:21세기에 대비한 지능형 통합항만관리
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• pp.153-158
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• 1998

In this paper, we present a design of optimal 2-DOF PID controller for control of gantry crane which has to control swing motion and trolley position. For tuning the parameter of 2-DOF PID controller, we used evolution strategy(ES). During operate the crane system in yard, the goal is transporting the load to a goal position as quick as possible without rope oscillation. The crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. However, we developed an optimal controller which has to control the crane system with disturbance.

• 제어로봇시스템학회논문지
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• 제3권5호
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• pp.435-442
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• 1997

The roof crane system is used for transporting a variable load to a target position. The goal of crane control system is transporting the load to a goal position as quick as possible without rope oscillation. The crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid tansportation is required. In this paper, we developed a simple fuzzy controller which has been introduced expert's knowledge base for anti-swing and rapid tranportation to goal position. In particular, we proposed the synthesis reasoning method which synthesizes on the basis of expert knowledge of the angle control input and position control input which are inferenced parallel and simultaneously. And we confirmed that the performance of the developed controller is effective as a result of applying it to crane simulator and also verified whether the proposed synthesis rules have been applied correctly using clustering algorithm from the measured data.

• 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.