• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.153-158
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• 2004

In this paper, we proposed a two-stage control of the container crane. The first stage control is time-optimal control for the purpose of fast trolley traveling. With suitable trolley velocity patterns, the sway which is generated during trolley moving is minimized. At the second stage control feedback control law is investigated for the quick suppression of residual vibration after the trolley motion. For more practical system, the container crane system is modeled as a partial differential equation (PDE) system with flexible cable. The dynamics of the cable is derived as a moving system with tension caused by payload using Hamilton's principle for the systems. A control law based upon the Lyapunov's method is derived. It is revealed that a time-varying control force and a suitable passive damping at the actuator can successfully suppress the transverse vibrations.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.3A
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• pp.277-286
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• 2010

Derrick or caterpillar crane is generally used for the long-span/cable-stayed bridge construction by pre-cast segment lifting from over-land or water transportation. The heavy weight of them, however, could make defects on unstable under-construction structure and, furthermore a method of conventional segment transportation is also able to occur additional time and cost. In this study, in order to improve conventional construction method, the newly developed derrick crane is mainly considered. It could be not only eccentrically loadable on constructing girder but having rotatable boom for segment transportation from back-side. A series of construction stage using developed derrick crane is defined and also its numerical analysis is conducted. To reflect load characteristics of developed derrick crane on construction stage analysis, on/out of service load is separately calculated by considering vertical/lateral rotation range of boom and it is loaded on 4 fixed positions of crane. The derrick crane on this study could be time and cost saving solution for cable-stayed bridge construction and also make contributions to construction load reduction in its process.

• Journal of Korean Society of Forest Science
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• v.79 no.4
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• pp.413-418
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• 1990

Since 1945, the periodical reforestation projects considered as the fundamental apparatus of the forest policy of the Government have been continuously carried out during last 40 years in Korea. As a result, some of the forests are ready to be harvested, especially in well-managed plantations as well as in the natural forests. This requires to pay more attention to harvesting the timber rather than planting trees. At the present, such timber harvesting operations such as cutting, felling, bucking, and skidding and yarding, particularly yarding operations in mountain areas with harsh terrains are in the most cases depend upon man power. However, the yarding operations should be more mechanized in the near future in Korea mainly because of the high cost of labour couppled with the lack of labour in forested areas. The Forest Work Training Center attached to the Forest Administration imported and tested the smallsized cable crane(K-300) with movable tower. The result of economic analysis of the yarding operation expenditures shows that the cable crane yarding costs more than the man yarding at the present time. As the labour cost will gradually increase and the efficiency of machine operation will improve, the results of the study indicates that the yarding operation by cable crane will be more cost-effective in the future.

• Journal of Korean Society of Forest Science
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• v.82 no.2
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• pp.195-206
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• 1993

The purpose of this study is to provide a basis for establishing regional harvesting systems that ist the prerequisites for the forest mechanization. The factors restricting to the forest harvesting and logging methods from topographical aspects are studied for this purpose. Three main harvesting methods studied in this paper are : shortwood method, longwood method and full tree method. This study shows : the shortwood method is suitable for low, the longwood method for medium, the full tree method for high topographical conditions. For the logging methods, the focus of the study is on various ground based logging systems by animalpower, manpower, gravitation, wheeled & crawler vehicle and cable. The factors limiting the coverage of logging operation are slope and logging distance. The cable crane logging methods are classified by logging distance into short distance(to 300 or 400m), middle distance(to 700 or 800m) and long distance cable crane methods (over 700 or 800m). The wheeled vehicle method shows serious damages to forest resources, whereas the logging by log-line of the gravitation logging method and cable crane method tend to minimize such damages. The wheeled & crawler vehicle method also shows difficult to apply in the high slope conditions, whereas cable crane method can be applied to maximum 120% steep slope and uphill conditions.

• Journal of Advanced Research in Ocean Engineering
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• v.1 no.2
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• pp.85-93
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• 2015

The nonlinear time-domain analysis method was implemented to carry out a series of integrated simulations for a deep-water crane vessel system composed of four sub components, including a floating vessel, lifted equipment, hoisting cable and dynamic positioning (hereinafter DP) system. The analysis of the coupled dynamics consists of the crane vessel and equipment connected using the crane wire, and the DP is modeled according to the wind, wave and current conditions. The DP systems were numerically implemented using a classical PD feedback controller, and various simulations of the deepwater installation were conducted using different conditions in order to evaluate the global performance of the floating crane vessel combined with the DP system.

• Steel and Composite Structures
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• v.21 no.5
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• pp.963-980
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• 2016

The jib system with middle strut is widely used to achieve the large arm length in the large scale tower crane and the deployability in the mobile construction crane. In this paper, an analytical solution for the out-of-plane buckling of the jib system with middle strut is proposed. To obtain the analytical expression of the buckling characteristic equation, the method of differential equation was adopted by establishing the bending and torsional differential equation of the jib system under the instability critical state. Compared with the numerical solutions of the finite element software ANSYS, the analytical results in this work agree well with them. Therefore, the correctness of the results in this work can be confirmed. Then the influences of the lateral stiffness of the cable fixed joint, the dip angle of the strut, the inertia moment of the strut, and the horizontal position of the cable fixed joint on the out-of-plane buckling behavior of the jib system were investigated.

• Proceedings of the Korea Water Resources Association Conference
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• 2005.09b
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• pp.1279-1280
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• 2005

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.3
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• pp.283-288
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• 2010

Mobile harbor is characterized by the lightweight compact structure when compared to the conventional above-ground port container crane. A new concept RORI crane system, which was devised for mobile harbor to satisfy the compactness and light weightness, not only can load/unload containers with high speed on sea but can be completely folded at maneuvering mode. This study is concerned with the tip deflection of the horizontal boom of mobile harbor at container loading operation. Both the theoretical method utilizing the Castigliano's theorem and the numerical approach by finite element method are employed, and the reliability of the latter approach is verified through the comparison with the theoretical results. And then, the effect of the initial cable tension on the tip deflection is parametrically examined by the finite element analysis.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• autumn
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• pp.255-266
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• 2000

Since 1993, Seohae grand bridge has been continued construction for 7 years and will be completed late this year. The bridge is a part of west sea castal highway and consists of 3 types of bridge including precast segmental method, free cantilever method and cable stayed bridge. A cable stayed bridge is the core of this bridge and it consists of 5 span, symetrical cable-stayed bridge with a total length of 990 m. The main span between two H-shaped pylons extending approximately 180 M above massive foundation of a cable stayed bridge is 470 m long and an approach span of that is 260 m long respectively. The circular cofferdam with 16 ea of 25 m diameter flat type sheet pile had been applied to construct foundation. The slipform method had been applied for forming of con'c of two H-shaped pylons with 3 cross beams respectively which is varied horizontally and vertically. The deck has been erected with balanced cantilever method using movable derrick crane. The stay cables is a bundle of parallel individually protected, 7 wire high tensile strands. The strands is hot deep galvanized and sheathed with a tight high density polyethylene coating. A petroleum wax fills all the inter-wire voids. The bundle of strands to prevent from deterioration due to the ambient problem covered with high density polyethylene pipe. The Isotension method has been applied for the stressing of cable strands to ensure uniformity of force in all the strands of a syay and such works has been performed on the stay specially provided in the pylon.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2005.04a
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• pp.249-256
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• 2005

Rigorous FE(Finite Element) analyses of the cable-stayed bridge with steel-box girder, the main construction method of which is FCM (Free Cantilever Method), are presented in this paper. The analysis and the checking of design for a derrick crane under several loading conditions are performed using the software MIDAS/Civil and the beam elements are used to model the main structure. Among all the construction stages, special construction stages are chosen and considered to ensure the safety of segments of box girder The stress analysis for lifting of a segment of box girder is performed using the software SAP2000 and the shell elements of which having 6 DOF(Degrees Of Freedom) per nodes are successfully used to model the segment of box girder for the purpose of capturing the detailed behaviors on the folded-plates in the segment. Finally, concluding remarks are given to improve a design of the derrick crane and the segment based on the results from this study.