• Journal of Navigation and Port Research
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• v.29 no.8 s.104
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• pp.747-753
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• 2005

In this paper, as an anti-sway control strategy of container cranes, we investigate a variable structure control in which the moving load follows a given trajectory, whereas both the trolley and hoist controllers achieve their positioning problems. It is crucial, in an automated container terminal, that collisions should be avoided during the transference of containers from one place to another. It is also necessary, in the case of a quay crane, to select suitable loading and unloading trajectories of containers, so that possible collisions with surrounding obstacles are avoided. After a brief introduction of the mathematical model, a robust control scheme (i.e., a second-order sliding mode control that guarantees a fast and precise transference and a suppression of the resulted swing) is presented. Despite model uncertainties and unmodeled actuators dynamics, the swing suppression from the given trajectory is obtained by constraining the system motion on suitable sliding surfaces, which include both the desired path and the swing angle. The proposed controller has been tested with a laboratory-size pilot crane. Experimental results are provided.

• Journal of Korea Water Resources Association
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• v.31 no.3
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• pp.347-360
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• 1998

Numerical simulations for fluid flow and solute transport in a fracture rock masses are performed by using a transient flow model, which is based on the three-dimensional stochastic and discrete fracture network model (DFN model) and is coupled hydraulic model with mechanical model. In the numerical simulations of the solute transport, we used to the particle following algorithm which is similar to an advective biased random walk. The purpose of this study is to predict the response of the tracer test between two deep bore holes (GPK1 and GPK2) implanted at Soultz sous Foret in France, in the context of the geothermal researches.l The data sets used are obtained from in situcirculating experiments during 1995. As the result of the transport simulation, the mean transit time for the non reactive particles is about 5 days between two bore holes.

• Proceedings of the KIEE Conference
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• 2003.10b
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• pp.30-32
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• 2003

본 논문은 LCD 제조 공정 라인에서 LCD용 원판을 다른 여러 공정으로 이송하는데 사용하기 위한 수평형 스토크 시스템의 설계 및 제작에 관한 연구이다. 구동원으로 제작된 영구 자석 여자 횡자속형 전동기는 높은 공극 자속 밀도를 얻을 수 있는 구조로 일반 선형 유도 전동기나 선형 등기기에 비해 단위 체적당 높은 출력 밀도를 얻을 수 있는 장점을 가지고 있다. 3차원 등가 자기 회로망법을 사용하여 기자력 변화에 따른 추력 및 흡인력과 같은 특성을 해석하였으며 정특성 실험을 통하여 설계 및 해석의 타당성을 검토하였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.903-909
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• 2018

In this paper, performance analysis of machine vision techniques is presented to improve the convenience and speed of automatic inspection in the industrial field when machine vision is applied to the image not taken in the stationary state, but in the moving state on a conveyer. When the length of cylindrical rods used for automobiles was measured using the edge detection method, the conveying speed increased, and the uncertainty of the boundary between the background and the part image increased, which resulted in a shorter image of the object taken. This paper proposes a linear compensation method to predict the biased errors of the length measurements after examining the pattern of biased and random errors, respectively, with 6 different types of specimens and 7 velocity stages. The length measurement corrected by the linear compensation method had the same accuracy as the stationary state within the speed range of 30 cm/s and could enhance the application capability in automatic inspections.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.8
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• pp.691-697
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• 2011

The purpose of this study is to analyze nonlinear dynamics of a tethered satellite. The coupled non-linear equations of motion are derived by using the extended Hamilton's principle with the polar coordinate system. In order to analyze the response of tethered satellite, time responses are computed by the Newmark's time integration method. We also investigate the dynamic behavior of the system and the effects of length of tether, tip mass and conveyed fluid through the tether with time variation.

• Proceedings of the KIPE Conference
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• 2006.06a
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• pp.101-103
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• 2006

일반적으로 리니어 구동기나 회전하는 모터를 이용하여 적은 힘으로 증량의 물체를 이송하는 시스템이 개발되어 현자에서 사용되고 있다. 그러나 공기압이나 유압을 사용하는 리니어 구동기나, 회전하는 모터를 사용하기 때문에 Backlash를 비롯한 비선형성이 크기 때문에 성능의 한계를 갖는다. 본 논문은 동기형 리니어 모터를 구동하는 DSP 기반의 힘 제어기를 설계, 제작하고 힘제어를 이용하여 이송하는 시스템을 개발하고 시험한 내용을 보여준다.

• Journal of KSNVE
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• v.10 no.5
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• pp.838-842
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• 2000

The vibration of an axially moving string is studied when the string has geometric non-linearity and translating acceleration. Based upon the von karman strain theory, the equations of motion are derived considering the longitudinal and transverse deflection. The equation for the longitudinal vibration is linear and uncoupled, while the equation for the transverse vibration is non-linear and coupled between the longitudinal and transverse deflections. These equations are discretized by using the Galerkin approximation after they are transformed into the variational equations, i.e. the weak forms so that the admissible and comparison functions can be used for the bases of the longitudinal and transverse deflections respectively. With the discretized nonlinear equations, the time responses are investigated by using the generalized-$\alpha$ method.

• Proceedings of the Korea Water Resources Association Conference
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• 2004.05b
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• pp.1408-1412
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• 2004

인구의 폭발적 증가, 산업화, 도시화의 급진적, 과학기숙의 발달 등으로 물 소비는 급증하는 반면, 이상기후현상으로 수자원의 절대량이 줄어 수자원의 양적인 문제와 하천 및 저수지의 수질오염에 대한 질적인 문제가 ,대두되고 있다. 하천의 수질현상 및 이송은 상당히 비선형적이고, 시간에 따라 변화하려, 실제로 수질의 예측은 유량의 변동, 오염물질의 이송 및 확산, 하천 구조물 등의 여러 요인에 의하여 상당히 어렵다고 알려져 왔다. 또한 한정된 수자원으로 하천의 수량과 수질목표를 동시에 달성하기 위해서는 물의 수요와 공급을 실시간으로 감시하면서 기상과 유출예측기술을 활용하여 용수의 수요와 공급을 예측하고 이를 토대로 수량과 수질을 고려한 물관리 운영시스템이 구축되어야 한다. 이를 위해 본 연구에서는 모형의 입${\cdot}$출력 구성을 자유롭게 변형할 수 있는 상태공간 모형과 신경망 모형을 이용하여 금강수계 주요 지점의 수질예측 모형을 구성하고 모형의 적용성을 파악한 후 예측력이 우수한 모형을 Web기반 모형의 수질예측 모듈의 기본모형으로 선정하고 Web 상에서 수질예측이 가능하도록 시스템을 개발하였다.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.6
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• pp.553-559
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• 2004

The servo motor is used for the driving power source of the conventional linear conveyor system. The mechanical power transfer system is needed for converting the circular to the linear operation. But this system causes some problems of position error, the necessity of the periodical maintenance. In this paper the study on application of transverse flux linear motor(TFLM) is carried out for the indexer system of LCD processing because TFLM has much thrust per a volume than the conventional motor. TFLM is suitable system for the indexer system because of capacity of acceleration, maximum speed and precision of the position, etc.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.3B
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• pp.205-209
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• 2011

The low carrying capacity caused by the deposition in a sewer line is one of the main reason of the urban flood. Therefore, an efficient maintenance and management of the storm water drainage system is very important to prevent urban flood. In this research, the sediment transport characteristics through a pressure pipeline were examined with laboratory experiments. Bed-forms in a pipeline, sediment rates, roughness due to sediments were examined. Experimental system consists of flow circulation system with a pump and a sediment feeder at the upstream of the pipeline. Sediments were supplied into a 60 mm-diameter and 8 m-long pipe. Maximum flow rate is $30m^3/hr$, and the sediment feeding rate range is 5 g/s~19 g/s. Governing parameters and estimation equation for sediment transport rate were developed. The mean velocity (U), coefficient of viscosity (${\mu}$), unit width bed load ($q_b$), mean diameter of particle ($d_{50}$), unit weight of sediment in water (${\gamma}^{\prime}_s$) were adopted as the most influencing factors of sediment transport patterns. The prediction equation for sediment transport rate were developed with two dimensionless terms. These two dimensionless terms showed a linear relationship with high correlation coefficient.