• Journal of Navigation and Port Research
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• 제31권1호
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• pp.55-64
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.

• Food Science and Preservation
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• 제11권2호
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• pp.250-256
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• 2004

The objectives of this study were to develop a new commercial grain cooler suited to domestic weather and post-harvesting conditions for paddy, and to evaluate the performance. A prototype grain cooler capable of cooling paddy of 200 tons within 24 hours was developed. The grain cooler was designed to control the refrigeration capacity from 0 to 100% by controlling the capacity of compressor with unloading solenoid valve and by changing the flow rates of hot refrigerant gas flowing into reheater and evaporator from compressor. And a controller with one chip microprocessor was developed to control temperature and relative humidity of cooling air. The maximum cooling capacity of the grain cooler was 35,284㎉/hr at condensing/evaporating pressure of 16.5/3.6 kgf/$\textrm{cm}^2$. Maximum flow rate of cooling air was 120 ㎥/min at static pressure of 279 mmAq. The total maximum required power was 22.8㎾, and total required energy was saved from 26.7 to 33.3% of maximum power depending on operating conditions. The coefficient of performance of refrigeration devices and total coefficient of performance of the grain cooler were 4.71 and 1.8, respectively.

• Architectural research
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• 제19권3호
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• pp.79-87
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• 2017

In earthquake engineering, dynamic analyses are usually conducted by using a nonlinear analytical model of the entire building in order to identify the performance against earthquakes. At the same time, a large number of dynamic analyses are required to consider uncertainties on analytical models and ground motions. Therefore, it is necessary for the analytical model to be adequate, that is to say, the runtime should not be too long as the entire building is modeled to be in much detail, or the nonlinear model should not yield outputs very far from the actual ones by excluding important behaviors too much. The analytical model is usually developed based on experimental results, which have been already conducted for reinforced concrete columns with relaxed details. Therefore, this study aimed at making analytical models to be able to simulate the hysteretic behavior of the columns simply and easily. The analytical model utilizes a lumped hinge model to represent nonlinear moment-rotation hysteretic behavior of RC columns, which is feasible for nonlinear dynamic analyses usually conducted in earthquake engineering and for matching the analytical model to test results. For the analytical model, elements and material models provided by OpenSees are utilized. The analytical model can define the envelope curve, pinching, and unloading stiffness deterioration, but shortcoming of this model is not to be able to consider axial force-moment interaction directly and to simulate strength deterioration after post-capping completely. However, the analytical model can still represent test results well by considering that the goal of this study is to propose a general way to represent the hysteretic behavior of RC columns with relaxed details, not to provide parameters for a refined hysteretic model that can be just applied case by case.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 한국항해항만학회 2004년도 춘계학술대회 논문집
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• pp.443-449
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• 2004

In this paper, we established a simulation model for transport vehicle that carries the container transportation between apron and yard block on automated container terminal with a perpendicular yard layout. Usually, the efficiency of container terminal is evaluated by productivity of container cranes at apron, and though there are enough support of transport vehicles and yard cranes, can improve the productivity of container cranes. Especially, transport vehicle is very important factor in productivity of container cranes and has variable work productivity according to loading and unloading situation of container cranes. Therefore, a method that can estimate work productivity of transport vehicle efficiently is required. We analyzed work productivity of transport vehicle using simulation model that has state transition of transport vehicle. We performed various simulation experiment and analyzed work productivity of transport vehicle and calculated the required number of transport vehicle by container crane additionally.

• Journal of Navigation and Port Research
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• 제34권4호
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• pp.271-279
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• 2010

The Mobile Harbor(MH) is a new transportation platform that can load and unload containers to and from very large container ships in the sea. This loading and unloading by crane can be performed with only very small movements of the MH in waves because MH is operated outside of the harbor. For this reason, an anti-rolling tank(ART) and an active mass driving system(AMD) were designed to reduce MH's roll motion, especially at the natural frequency of MH. In the conceptual design stage, it is difficult to confirm the design result of theses anti-rolling devices without modeling and simulation tools. Therefore, the coupled MH and anti-rolling devices' dynamic equations in waves were derived and a simulation program that can analyze the roll reduction performance in various conditions, such as sea state, wave direction, and so on, was developed. The coupled equations are constructed as an eight degrees of freedom (DOF) motion that consists of MH's six DOF dynamics and the ART's and AMD's control variables. In order to conveniently include the ART's and AMD's control dynamics in the time domain, MH's radiated wave force was described by an impulse response function derived by the damping coefficient obtained in the frequency domain, and wave exciting forces such as Froude-Krylov force and diffraction force and nonlinear buoyancy were calculated at every simulation time interval. Finally, the roll reduction performances of the designed anti-rolling devices were successfully assessed in the various loading and wave conditions by using a developed simulation program.

• Journal of the Korean Society of Manufacturing Process Engineers
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• 제14권4호
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• pp.151-159
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• 2015

In this study, we developed an automated contact-type thickness measurement machine that continuously and precisely measures the thickness of a PCB module product using multi-LVDT sensors. The system contains a measurement part to automatically measure the thickness in real time according to the set conditions with an alignment supply unit and unloading unit to separate OK and NG products. The sensors were calibrated before assembly in the measuring machine, and precision and accuracy performance tests were also performed to reduce uncertainty errors in the measurement machine. In the calibration test, the precision errors of the LVDT sensor were determined to be $1-3{\mu}m$ as 0.1% at the measuring range. A measurement error of 0.8 mm and 1.0 mm thickness test standards were found to be $1{\mu}m$ and $4{\mu}m$, and the standard deviations of two 1.0 mm products were measured as $14{\mu}m$ and $8{\mu}m$, respectively. In the measurement system analysis, the accuracies of test PCB standards were found to be $2{\mu}m$ and $3{\mu}m$, respectively. From the results of gage repeatability and reproducibility (R & R) crossed, we found that the machine is suitable for the measurement and process control in the mass production line as 7.92% of total gage R & R and in seven distinct categories. The maximum operating speed was limited at 13 pcs/min, showing a value good enough to measure.

• Journal of the Korean Society for Railway
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• 제14권3호
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• pp.234-239
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• 2011

Installing the temporary bridge after excavating the railway requires installing movable cross beam, but as it doesn't requires isolating the catenary or cutting the rail, it's applicable to double-track with frequent operation. In this study, a displacement meter was placed on temporary bridge to monitor the displacement pattern in curve section (R400) completed using temporary bridge method, and wheel load, lateral pressure and derailment coefficient were measured to evaluate the load imposed on track and the stability in curve section (R400) for quantitative evaluation of training running safety. As a result of the measurement, when trains passing over a temporary bridge, the maximum value of Wheel load and Lateral Force is analyzed as the 51% and 81% of standard level according to foreign country's performance tests, There is no trouble with stability analysis in Wheel load and Lateral Force occurring. Additionally, Wheel load and Lateral Force considered as the safety standard are tested 49% of limiting value regardless of trains, which the norm value quite well, there is no problem with train running.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
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• pp.480-488
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• 2000

Cabbage is the most important vegetables in korea. The cabbage production was based on arduous human labor. A comprehensive research for substituting the human work by machines has been performed at present. In general, cabbage is cultivated on hillside in korea. The harvested cabbage in a field and carrying it to a vehicle for transportation are very laborious work. Hand labor in cabbage transportation to the market damages the quality of cabbage and is also a cause to increase the cost of cabbage production. This study was to design and evaluate a prototype cabbage loader for deserving efficient and safe transportation of cabbage. The developed cabbage loader was a semi-tracked vehicle operated by a hydraulic system, allowing the safe transporting and the loading of cabbage in a steep field. The maximum loading capacity of the loader was 1.0 ton. By using safety devices attached to the loader, the static slopes were 34.0% and 37.4% for the left and the rear roll-over, respectively. The maximum field speed was about 6km/hr with two cabbage pallets of 750kg at a 25% inclined field. The field capacity was about 35 pallets/hr in case of picking up, carrying and unloading two cabbage pallets. The field efficiency of the loader was analyzed to be more than 8 times in comparison of the conventional human labor. The developed loader would be applied for loading and carrying the other vegetables due to the similarity of operations. The study suggested a standard approach to the design of field machines operated in a steep field.

• Journal of the Society of Naval Architects of Korea
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• 제34권3호
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• pp.70-75
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• 1997

This paper concerns with a safe and efficient transportation method of hot-coils on cargo ship. An automatic loading and unloading system of hot-coils by cassettes, which secure the geometrically unstable cargo, hot-coil, by supporting with wedges on both sides, is considered efficient and profitable. Safety of hot-coil on cassette and subsequently safety of total cargo ship are directly affected by the wedge angle of cassette. For optimal design of the cassette wedge angle, a dynamic model of hot-coil/cassette cargo is developed with constraint of no relative motions between the coil and the cassette. Force equilibrium conditions between resultant alternating inertia forces on hot-coil due to motions of cargo ship in waves and reactions forces from cassette wedge surfaces are derived and consequently a numerical simulation code is implemented. Cassette wedge angle of 37 degree is taken as optimal by considering dynamic stability of hot-coil and strength of cassette structure. Performance of the designed cassette wedge angle is investigated by scaled bench test.

• Journal of the Korea Society for Simulation
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• 제17권4호
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• pp.29-39
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• 2008

Recently, an ALV (Automated Lifting Vehicle) is studied as an efficient transporter, which can reduce the waiting time during ship operation in a container terminal. There are little of studies on an ALV system considering dynamic factors after analysing the cooperation between equipments. The performance of an ALV depends on self-loading & unloading of an ALV, vehicle’s interference, and occupancy of an available transfer point under dynamic environment. So, it is very difficult to evaluate the productivity of a container terminal with an ALV system. Therefore the simulation model with operational rules that be apt for an ALV system must be developed. Also the model has to consider the characteristics of interface operations and vehicle traffic. Supposing an container terminal with perpendicular layout, this study analyses the process of container handling operation and proposes operational rules such as the ALV dispatching, routing algorithm and so on for a model. We developed a simulation model for a container terminal with an ALV system using object-oriented simulation software, Anylogic.