• Journal of Power System Engineering
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• v.12 no.6
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• pp.42-49
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• 2008

The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• Journal of Navigation and Port Research
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• v.34 no.5
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• pp.311-317
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• 2010

Mobile Harbor(MH) is a new paradigm for maritime transport system introduced in Korea, the target of which is to carry out ship-to-ship cargo operation rapidly and effectively even under a condition of sea state 3. A MH ship is moored alongside a large container vessel anchored at the defined anchorage and also equipped with gantry cranes for handling containers. The MH study concerned includes rapid container handling system, optimum design for floating structure, hybrid berthing & cargo operation system, design for cargo handling crane, etc. This paper is to deal with a conceptual design of a stabilized mooring system and mooring equipment under a condition of ship-to-ship mooring. In this connection, we suggest a positioning control winch system in order to control heave motions of the MH ship which is to add constant brakepower and stabilized function to an auto-tension winch and mooring equipment used currently in large container ships.

• Journal of The Korean Society of Agricultural Engineers
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• v.55 no.2
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• pp.47-57
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• 2013

This study is to assess the reduction of non-point source pollution loads for rice straw mulching of upland crop cultivation at a watershed scale. For Byulmi-cheon watershed (1.21 $km^2$) located in the upstream of Gyeongan-cheon, the HSPF (Hydrological Simulation Program-Fortran) and SWAT (Soil and Water Assesment Tool), physically based distributed hydrological models were applied. Before evaluation, the model was calibrated and validated using 9 rainfall events. The Nash-Sutcliffe model efficiency (NSE) for streamflow using the HSPF was 0.62~0.76 and the determination coefficient ($R^2$) for water quality (sediment, total nitrogen T-N, and total phosphorus T-P) were 0.72, 0.62, and 0.63 respectively. The NSE for streamflow using the SWAT were 0.43~0.81 and the $R^2$ for water quality (sediment, T-N, and T-P) were 0.54, 0.87, and 0.64 respectively. From the field experiment of 16 rainfall events, the rice straw cover condition reduced surface runoff average 10.0 % compared to normal surface condition. By handling infiltration capacity (INFILT) in HSPF model, the value of 16.0 mm/hr was found to reduce about 10.0 % reduction of surface runoff. For this condition, the reduction effect of sediment, T-N, and T-P loads were 87.2, 28.5, and 85.1 % respectively. By handling soil hydraulic conductivity (SOL_K) in SWAT model, the value of 111.2 mm/hr was found to reduce about 10.0 point reduction of surface runoff. For this condition, the reduction effect of sediment, T-N, and T-P loads were 80.0, 83.2, and 78.7 % respectively. The rice straw surface covering was effective for removing surface runoff dependent loads such as sediment and T-P.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.8
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• pp.1599-1605
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• 2011

From now on, power line communication was made use of controling using 450 kHz narrow band, but as the PLC technology developing, in the near future get to the commercial step that is broadband PLC upto 30 MHz. In this paper, analyze the possibility of moving picture transmission for adapting surveillance camera which is among of the application of PLC. To analyze characteristics of channel, estimate the noise and impedance of lab, office, home. In case of noise, there is no problem to communicate each other because of 20 ~ 50 dB gain. In case of impedance, average impedance is about 100 ohm, it satisfy standards of designing modem but because max and min values get out of expectation there are some problem to acquire fully capacity of modems. Its condition is the same as transmission of multimedia data. In this test as more packets, as more handling rate, in lab, for the case that transmit 1,518 byte as the speed of 6 Mbps handling rate is upto 100%, it means possibility of moving picture transmission as the 6 Mbps speed. For delayed time there is no relationship about transmitted packets. As a result, there is no problem about applying surveillance camera via the PLC. And more cameras can work within PLC for considering the number of transmitted frames.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.909-913
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• 2013

Various types of large substrate handling robots are used in the thin file solar cell manufacturing line as well as LCD or PDP production line. Because the robot handles the heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. As the substrate becomes larger and heavier, robot systems are also larger and the vibration issue of the robot end-effector becomes more important. In the paper, we established the robot modeling and the control architecture including the flexible part such as forks. Then, we performed dynamic simulation in the various condition and analyzed the characteristics of the fork vibration. We can reduce the vibration using the trajectory planning and input shaping algorithm and it was proved by experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1520-1523
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• 1997

A rigorous dynamic simulation was performed in binary gas mixture H$_{2}$/CO (70:30 vol.%) to determinate start-up operating conditions of PSA(Pressure Swing Adsorption) processes. The rigorous dynamic model for the PSA process contains an Ergun equation for expressing the pressure drop in a bed, and valve equations to compute the boundary pressure change of the bed. As the result of the continuous dynamic simulation of 100 operating cyles in various initial conditions, the unsteady-state appeared in the early period and the cyclic steady-state came out about 20th cycle in feed condition and vaccum condition, and 30th cycle in pure H$_{2}$ condition. As time goes by valve equations made change the pressure at each end of the bed in ressurization, countercurrunt-depressurization and pressure equalization steps. The H$_{2}$ purity and the recovery is 99.99% and 86.73% respectively, which is slightly higher than the experimental data. Main contributiion of this study includes supplying fundamental technologies of handling combined variables PSA processes by developing rigorous models.

• Journal of the Korean Institute of Gas
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• v.21 no.4
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• pp.21-29
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• 2017

Small and medium industry facility handling hazardous chemicals was inspected and summarized. The inspection results were summarized in four categories such as hazards to process, storage, workers, and the others. The result was applied to further improvement of the facility. In conclusion, the industry intented to satisfy minimum requirement of regulation and they do not pay attention to keep maintaining the facility in integrity condition.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1998.10a
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• pp.51-58
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• 1998

This study is to define the Automated Container Terminal(ACT) and container terminal system. Also, we analyze the present condition of the container terminal system in Pusan port and its automation level by systems approach. And this paper aims at evaluating on the priority of R&D investment until the beginning of the second stage of New Pusan Port Project(2006). In this process we have considered 8 factors (cost, labor, area, time volume, reliability, safety, convenience) to analyze 6 subsystems. The priority order of R&D until target year by sub-systems is as follow : Cargo Handling System〉Transfer System〉Port Entry System〉Storage System(Distribution&Manufacturing System included)〉Inland Transport System〉Port Information System.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.4
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• pp.502-508
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• 2000

The amount of container freight is continuously increasing recently, but freight congestion problem frequently occurs at ports due to low efficiency of container crane in transportation and cargo handling. In this paper, a method for designing a fuzzy controller of the container crane system is presented. In this scheme a mathematical model for the system is obtained in state space representation. The response of the proposed fuzzy controller is compared with that of the optimal controller at the same condition. Through the simulation results, the performance of the fuzzy controller was observed better than that of optimal controller in respect of reference change, disturbances and parameter change. The fuzzy controller was also more stable and robust than the optimal controller.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.10
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• pp.2454-2460
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• 2013

So far, the port cargo handling capacity of general cargo was computed using simple formulae based on mathematical models. However, this simple calculation could not be able to reflect the reality. Thus, the simulation method was applied in this paper to overcome the limitation that the calculation method used in the past studies has. The process occurring from arrival to departure of a ship, which is reflecting the process rules of berth, was modeled to estimate the optimum level of handling capacity by using an example of the loading and unloading of an appropriated wharf at the harbor, and simulation was performed by developing the prototype. The actual processing capability of Mukho port was compared to the estimated capability calculated using the simulation method and the optimum level of capability could be computed by repeatedly simulating the input variable condition of the simulation prototype.