• Journal of the Korea Society of Computer and Information
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• v.15 no.9
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• pp.57-65
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• 2010

This paper describes the method of efficient container number recognition in colored container image with number plate at ATC(Automatic Transfer Crane) in container terminal yard. At the Sinseondae terminal gate in Busan, the container number recognition system is installed by "intelligent port-logistics system technology development", that is government research and development project. It is the method that it sets up the tunnel structure inside camera on the gate and it recognizes the container number in order to recognize the export container cargo automatically. However, as the automation equipment is introduced to the container terminal and the unmanned of a task is gradually accomplished, the container number recognition system for the confirmation of the object of work is required at ATC in container terminal yard. Therefore, the container number recognition system fitted for it is necessary for ATC in container terminal yard in which there are many intrusive of the character recognition through image including a sunlight, rain, snow, shadow, and etc. unlike the gate. In this paper, hardware components of the camera, illumination, and sensor lamp were altered and software elements of an algorithm were changed. that is, the difference of the brightness of the surrounding environment, and etc. were regulated for recognize a container number. Through this, a shadow problem, and etc. that it is thickly below hung with the sunlight or the cargo equipment were solved and the recognition time was shortened and the recognition rate was raised.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.3
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• pp.273-279
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• 2012

The concept of the Mobile Harbor had been made recently as a kind of feeder vehicle to transfer a certain amount of container boxes (i.e. 250 TEU at a time) from main ocean container vessels over 5,000 TEU capacity to the container terminal on land. In a harbor a short distance apart from the land, the container loading/unloading operation has to be performed on the main deck of the Mobile Harbor using the container cranes in the state of side-by-side mooring with protection of fenders and robot arms in the gap. Even under the ocean condition of the sea state class 2 or 3, the operation has to be confirmed to be safely performed. In this situation, the floating bodies considering the multiple-body interaction effect also has to be examined whether they might behave safely or not. Especially, this study focuses on the dynamic behavior of the Mobile harbor when a container box is hanged on the crane and the impact load due to the slewing motion is imposed in a certain sea state. The motion response should be controlled within the motion level to assure the safe operation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3160-3172
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• 1996

A search algorithm for the collision free, time optimal transport path of overhead cranes has been proposed in this paper. The map for the working environment of overhead cranes was constructed in the form of three dimensional grid. The obstacle occupied region and unoccupied region of the map has been represented using the octree model. The best-first search method with a suitable estimation function was applied to select the knot points on the collision free transport path to the octree model. The optimization technique, minimizing the travel time required for transporting objects to the goal while subjected to the dynamic constraints of the crane system, was developed to find the smooth time optimal path in the form of cubic spline functions which interpolate the selected knot points. Several simulation results showed that the selected estimation function worked effectively insearching the knot points on the collision free transport path and that the resulting transport path was time optimal path while satisfying the dynamic constraints of the crane system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1743-1746
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• 2003

Automated Container Terminals have been being developed over the world for many recent years and more and more countries get interested in it because the amount of containers exported or imported is steeply increasing. Existed Container Terminals were not designed to control this kind of heavily many containers. They would face many structural problems soon or later, although they have managed to do well until now. One of the most important things in developing Automated Container Terminal is to develop the equipment able to transfer the awfully many containers. Those are maybe Automated Transfer Cranes, Automated Guided Vehicles, and Automated Quay-Side Cranes. The word "Automated" means the equipment is operated without drivers and those equipments are able to work without taking any break. Through the researches on the existed transfer cranes, authors decided that the structure of existed transfer cranes is not proper to swift and fast transfer and it′s not impossible to handle so many containers in limited time. Therefore authors have been studying on the proper structure of the Automated Container Crane for past several years and a new type of transfer crane has been developed. Design concepts and control methods of a new crane will be introduced in this paper.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.1
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• pp.91-96
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• 2015

In this study, we performed a study on prevention of the escape hoist heavy objects on the basis of the case of a disaster occurring during crane operations. A safety hook of the automatic fastening and coupling method by the conventional coupling method, the weight of the outside consisting of a combination of a safety ring structure was designed and manufactured. The main mechanism three-dimensional detail design and structural analysis confirmed the structure and stability of small strain than the allowable stress of the Safety Hook with X-jog through. Safety factor was confirmed to represent the average 1.5 to 1.2 higher than the safety factor to be considered in the general design structure. Therefore, Safety Hook and X-jog in the present study is to be operated upon structural stability is a structure attached to the hoist and crane are considered sufficient.

• Journal of Drive and Control
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• v.14 no.2
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• pp.9-15
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• 2017

The steering systems of all-terrain cranes have been developed with various control strategies for the stability and drivability. To optimally control the input steering angle, an accurate mathematical model that represents the actual crane dynamics is required. The derivation of an accurate mathematical model to optimally control the steering angle, however, is difficult since the steering-control strategy generally varies with the magnitude of the crane's longitudinal velocity, and the postures of the crane's working parts vary while it is being driven. To address this problem, this paper proposes an automatic steering-control algorithm that is based on the MPC (model predictive control) with a disturbance observer for all-terrain cranes. The designed disturbance observer of this study was used to estimate the error between the base steering model and the actual crane. A model predictive controller was used for the computation of the optimal steering angle, along with the use of the base steering model with an estimated uncertainty. Performance evaluations of the designed control algorithms were conducted based on a curved-path scenario in the Matlab/Simulink environment. The performance-evaluation results show a sound reference-path-tracking performance despite the large uncertainties.

• Journal of Industrial Technology
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• v.16
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• pp.217-230
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• 1996

This paper deals with storage and retrieval policies for S/R machine with capacity constraints in Man-On-Board AS/RS. It is assumed that storage sequence is based on SFC(spacefilling curve) routine and that storage layout is dedicated by storage policies. We present several heuristic algorithms for storage and retrieval policies which minimize total distance travelled by the S/R machine. These algorithms are based on COI, group COI, frequency of order, similarity between items and capacity of S/R machine. Experimental results of 24 combinastorial policies are provided to illustrate the performance of the heuristics under various rack utilization ratios. In storage policies, the results show that algorithms considering both similarity and frequency are better than those with COI as rack utilization is increasing. And algorithm using group COI is superior to others. In retrieval policies, the method with revision expression is shown to be better than others.

• Journal of the military operations research society of Korea
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• v.24 no.2
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• pp.75-94
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• 1998

AS/RS(Automated Storage/Retrieval Systems) has inflexibility in change after implementation and its initial cost is very high. Therefore, the proper and correct design of AS/RS is needed at the planning stage. Cost and performance are one of the most important factors in AS/RS design. There is a trade-off relationship between them. Velocity and number of stacker cranes have a deep relationship with performance of AS/RS. In this study, a model and a heuristic algorithm for finding optimal rack volumes and velocities of stacker for design of AS/RS are proposed with a numerical example.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2788-2790
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• 2002

In this paper, we designed neural network predictive two degree of freedom PID controller to control sway of crane Crane's trolley arrive minimum oscillation of transfer body and establishment position in minimum time. When various establishment location and surrounding disturbance were approved based on mathematical modeling of crane, controller designed to become effective control location error and oscillation angle of two control variables that simultaneously can predictive control. We wish to develop automatic travel control system through anti-sway skill of crane.

• Journal of Korean Port Research
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• v.13 no.2
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• pp.255-266
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• 1999

The purpose of this paper is to describe the design of the decision support system for container terminal ship planning and to introduce the implemented system. The ship planning in container terminals consists of three major decision processes -the working schedule of gantry cranes the discharging sequence of inbound containers the loading position and sequence of outbound containers. For making these decision the proposed system can provide two ship planning modes the interactive planning mode with user-friendly GUI and the automated planning made. To implement the automated planning routine we acquired the planning rules from the expert planner in container terminals and developed an expert system based on the rules. Finally we evaluated the system developed and the potential for commercialization by using container terminal data.