• 한국CDE학회논문집
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• 제15권1호
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• pp.1-10
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• 2010

Recently, a shipyard is making every effort to efficiently manage equipments of resources such as a gantry crane, transporter, and so on. So far block lifting scheduling of a gantry crane has been manually performed by a manager of the shipyard, and thus it took much time to get scheduling results and moreover the quality of them was not optimal. To improve this, a block lifting scheduling system of the gantry crane using optimization techniques was developed in this study. First, a block lifting scheduling problem was mathematically formulated as a multi-objective optimization problem, considering the minimization of travel distance at an idle state and wire replacement during block lifting. Then, to solve the problem, a meta-heuristic optimization algorithm based on the genetic algorithm was proposed. To evaluate the efficiency and applicability of the developed system, it was applied to an actual block lifting scheduling problem of the shipyard. The result shows that blocks can be efficiently lifted by the gantry crane using the developed system, compared to manual scheduling by a manager.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 춘계학술대회 논문집
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• pp.269-276
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• 2011

This paper considers the rail crane scheduling problem with minimizing the sum of the range of order completion time and make-span of rail crane simultaneously. The range of order completion time implies the difference between the maximum of completion time and minimum of start time. Make-span refers to the time when all the tasks are completed. At a rail terminal, logistics companies wish to concentrate on their task of loading and unloading container on/from rail freight train at a time in order to increase the efficiency of their equipment such as reach stacker. In other words, they want to reduce the range of their order completion time. As a part of efforts to meet the needs, the crane schedule is rearranged based on worker's experience. We formulate the problem as a mixed integer program. To validate the effectiveness of the model, computational experiments were conducted using a set of data randomly generated.

• 한국시뮬레이션학회논문지
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• 제28권4호
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• pp.45-56
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• 2019

장치장 운영전략을 주제로 한 많은 선행연구들은 장치장에 도착한 트럭들을 대상으로 야드 크레인의 작업시간을 최소화할 수 있는 작업순서를 결정했다. 하지만 실제 현장에서는 이미 장치장에 도착한 트럭들의 작업순서를 바꾸는 것은 거의 불가능하여, 도착순서에 따라 작업을 처리해주는 비교적 단순한 전략을 주로 적용해왔다. 이 방식은 작업순서에 대한 혼잡을 줄일 수 있고 관리가 편하다는 장점이 존재하지만, 간섭대기시간과 공차시간의 증가로 작업시간이 증가하는 문제점이 있다. 본 연구에서는 트럭이 야드 장치장에 도착하기 이전에 트럭의 작업 순서를 결정하는 스케줄링 방법을 제안했다. 트럭 도착 이전에 작업을 할당해 주기 위해 트럭의 도착 예정 시간을 추정할 수 있는 Container Pre-Information Notice 정보를 활용하였다. 연구에서 제안하는 스케줄링 방법의 효과성을 검증하기 위해 실제 부산컨테이너터미널의 설비 레이아웃 및 데이터를 이용하여 현업의 방식과 본 연구의 스케줄링 방식을 비교하였다. 그 결과 크레인 작업 시간에 영향을 미치는 공차이동 및 간섭 대기시간이 감소하여 평균 작업 처리 시간이 감소한 것을 확인하였으며, 또한 내부트럭의 대기시간과 외부트럭의 체감 대기시간이 감소하는 효과가 있었다.

• 산업공학
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• 제24권4호
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• pp.281-294
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• 2011

This paper considers the rail crane scheduling problem which is defined as determining the sequence of loading/unloading container on/from a freight train. The objective is to minimize the weighted sum of the range of order completion time and makespan. The range of order completion time implies the difference between the maximum of completion time and minimum of start time of each customer order consisting of jobs. Makespan refers to the time when all the jobs are completed. In a rail freight terminal, logistics firms as a customer wish to reduce the range of their order completion time. To develop a methodology for the crane scheduling, we formulate the problem as a mixed integer program and develop three metaheuristics, namely, genetic algorithm, simulated annealing, and tabu search. To validate the effectiveness of heuristic algorithms, computational experiments are done based on a set of real life data. Results of the experiments show that heuristic algorithms give good solutions for small-size and large-size problems in terms of solution quality and computation time.

• 한국정밀공학회지
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• 제18권7호
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• pp.53-64
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• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 제어로봇시스템학회논문지
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• 제7권7호
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• pp.559-566
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• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• 산업경영시스템학회지
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• 제41권4호
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• pp.238-247
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• 2018

This paper considers the problem of scheduling loading and unloading operations of a crane in a railway terminal motivated from rail-road container transshipment operations at Uiwang Inland Container Depot (ICD). Unlike previous studies only considering the total handling time of containers, this paper considers a bi-criteria objective of minimizing the weighted sum of the total handling time and tenant service time. The tenant service time is an important criterion in terms of terminal tenants who are private logistics companies in charge of moving containers from/to the terminal using their trucks. In the rail-road container shipment yard, the tenant service time of a tenant can be defined by a time difference between beginning and finishing loading and unloading operations of a crane. Thus, finding a set of sequences and time of the crane operations becomes a crucial decision issue in the problem. The problem is formulated as a nonlinear program which is improved by linearizing a nonlinear constraint in the model. This paper develops a genetic algorithm to solve the problem and performs a case study on the Uiwang ICD terminal. Computational experiment results show that the genetic algorithm shows better performance than commercial optimization solvers. Operational implications in terms of tenants are drawn through sensitivity analyses.

• 동력기계공학회지
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• 제8권3호
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• pp.58-66
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. 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 made by ourselves. 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. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.631-636
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. 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 made by ourselves. 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. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the experiment result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 산업기술연구
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• 제22권B호
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• pp.61-70
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• 2002

The shipbuilding scheduling has many possible alternatives because of its long time horizon and a lot of jobs, so it is required that the scheduling system can generate and search feasible alternatives rapidly. The scheduling in the assembly shop is initiated by allocating, namely loading, the assembly blocks to each shop. In this step, the resource capacities (such as available man/hour, available crane) of each shop must be considered. The result of loading without above consideration can make the scheduling result based on that infeasible or worse one. In this paper, we developed the optimal scheduling system of shipbuilding, specifically for loading and scheduling of assembly block, using ILOG Solver/Scheduler. ILOG Solver/Scheduler is a general-purposed commercial software which supports to find a feasible or optimal solution using object oriented technique and constraints satisfaction programming, given constraints and objectives. Also, in order to enhance the system performance, we conducted various experiments of ILOG search strategies. The experimental results showed that the impact of search strategies is significant.