• 한국해양공학회지
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• 제20권5호
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• pp.57-62
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• 2006

The most important thing in acontainer terminal is to handle the cargo effectively in the limited time available. To achieve this objective, many strategies have been introduced and applied. To create an automated container terminal, it is necessary for the cargo handling equipment to be equipped with more intelligent control systems. From the middle of the 1990's, automated rail-mounted gantry cranes (RMGC) and rubber-tired gantry cranes (RTG) have been widely used to handle containers in yards. Recently, many pieces of equipment, like CCD cameras and sensors, have beenmounted in these cranes to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes, which allow for more effective cargo handling in yards. For this purpose, the modeling, 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 modeling and a new tracking control approach are discussed, and an experimental study is performed based on a two-degree-of-freedom (2DOF) servosystem design.

• 한국항해항만학회지
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• 제41권3호
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• pp.119-126
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• 2017

컨테이너 선박의 대형화에 따라 컨테이너터미널 내에서 동일한 시간 내에 처리해야 하는 물동량이 계속적으로 증가하고 있다. 컨테이너터미널에서는 수동처리 방식의 한계를 극복함과 동시에 지속적으로 운영측면에서 발생하는 비용을 줄이기 위하여 컨테이너터미널의 자동화 시스템을 도입하고 있다. 왜냐하면 컨테이너터미널의 게이트 반출 입 업무를 수행함에 있어 수작업 처리 시 부정확한 자료 처리로 혼란 요소가 다소 발생하고 있다. 바코드 시스템에서 스캐너에 바코드를 직접 인식시켜야하기 때문에 처리 시간소요가 다소 길고 불편함 있어 이러한 문제점을 보안하여 게이트 자동화 시스템 RFID시스템은 차량 번호를 인식하는 기술을 이용하여 반출 입 처리 소요시간 단축하여 효율적인 게이트 업무 수행을 할 수 있다. 한편, 데미지 컨테이너 체크를 수동으로 진행하는 경우 게이트 반입 할때 컨테이너의 손상여부 확인 후 수기로 게이트 작업자가 직접 문서을 작성하여 보관하기 때문에 고객이 데미지 컨테이너 증거자료를 요청할때 증거자료로 제출하기에 불충분하여 고객으로부터 크레임을 받는 경우가 발생하였다. 또한, 게이트 작업자 및 인력에 의한 컨테이너 관리의 어려움 발생하였고 게이트 주변 인력의 컨테이너 관리 안전사고에 위험이 항상 노출되어 있었다. 본 논문에서 고찰하는 게이트 데미지 컨테이너 자동화 시스템을 도입하게 되면 영상 저장 시스템에 의한 컨테이너 관리가 가능하다. 컨테이너 손상정보가 시스템에 저장되어 있기 때문에 고객이 데미지 컨테이너 자료를 요청 시 시스템에 저장 되어 있는 데미지 컨테이너 영상을 검색하여 증거자료 제출이 가능하고 고객으로부터의 크레임 대비가 가능하다. 또한, 게이트 관리 인력 업무의 통합으로 인력 감소 및 게이트 부근 안전사고 위험이 감소하였다.

• 한국항해항만학회지
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• 제31권7호
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• pp.605-611
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• 2007

In order to become a mega hub port, major ports all over the world are making every effort to enhance their productivity through efficiency of internal operation. Accordingly, in order to enhance the competitiveness of a container terminal, an automated container terminal is considered as the best alternative. An automated container terminal is using such automated handling equipment as AGV(Automated Guided Vehicles) and ATC(Automated Transfer Crane). The efficient equipment operation plays a critical role in enhancing the productivity of an automated container terminal. In an automated container terminal, the most important equipments are AGV and ATC. Each block of containers with a vertical layout is generally operating two ATCs. The two ATCs can be crossed or not at each block. In the case of operating crossover ATC, it has an advantage of high flexibility that ATC work is possible at both TP(Transfer Point) of each block. But it has also a disadvantage that the yard has to be operated at a low storage level of containers in the terminal yard. Recently, for automated container terminals, which are being prepared for opening in Korea, they plan to use uncrossed twin ATC in order to make the storage level of their yards high at a low cost. Therefore, studies have to be made in order to increase the efficiency of twin ATC system based on the flexibility that the crossover ATC system has. This research aims to suggest an operation strategy to improve efficiency of twin ATC at each storage block in a yard.

• Industrial Engineering and Management Systems
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• 제9권1호
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• pp.28-40
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• 2010

One of the most important objectives of the schedules in a container terminal is to minimize the ship operation time, which consists of discharging and loading operation times. Recently, dual cycling techniques have been used for improving terminal operations, especially for reducing the total empty trips of handling equipment. The main focus of this study is to reduce the empty trip times of yard trucks with minimum delays for ship operations. A heuristic algorithm, modified from a previous algorithm, is proposed to solve this problem. A simulation study is conducted to evaluate the effect of different types of discharging and loading schedules and different locating methods for discharging containers in terms of the performance of the system, including the percentage of the dual cycle operations of yard trucks.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.393-396
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• 2005

Due to the fast growing rate of the global container trade, every major port is under the pressure of meeting the projected capacity demand. As a result, alternative solutions have been sought for improving capacity and meeting the growing demand for container storage area and terminal capacity. Moreover, material handling process re-engineering is now a critical issue for logistics and supply chain managers of airline, shipping lines, terminal and warehousing enterprises around the world. Therefore, the purpose of this paper is to develop the 3D simulator for executing performance valuation of port transportation systems. The developed 3D simulator system is to measure the effectiveness of the proposed total system and compare it with existing practices. The performance analysis variables are also defined for these comparisons

• 지능정보연구
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• 제15권3호
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• pp.119-136
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• 2009

컨테이너 물동량 증가와 컨테이너선의 대형화에 따라서 항만 하역장비는 지속적으로 변화하고 있다. 본 연구는 항만 하역장비 가운데 컨테이너크레인의 기계적 생산성을 상세히 평가하기 위해 개발된 시뮬레이션 모델을 소개한다. 모델은 컨테이너크레인의 메커니즘으로 싱글 및 듀얼 트롤리 방식을, 스프레더 유형으로 싱글, 트윈, 탠덤 방식을 고려하고 컨테이너크레인의 규모와 속도 등에 관련된 세부 사양을 입력받아 기구학적 특성을 구현한다. 또한 외부의 물리적 제약으로 선박의 크기, 컨테이너의 적재위치와 무게를 고려한다. 본 모델은 다양한 입력변수가 파라미터 (parameter)로 분리되어 실험 조건을 편리하게 설정할 수 있으며, 객체 지향적으로 설계 개발되어 향후 새롭게 개발되는 장비 유형이나 기존 장비의 변화를 유연하게 수용할 수 있다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 추계학술대회
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• pp.303-307
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• 2004

선박이 대형화되고 경제규모가 커지면서 선박의 화물운송 규모도 매우 커지고 있다. 이에 따라 컨테이너 터미널에서는 안벽하역 장비의 고속화, 대형화를 추진하고 있으며, 안벽의 고속 생산성은 한정된 규모의 장치장 점유율에 영향을 마치게 된다. 본 연구에서는 OHBC, RMGC, RTTC 등의 장비제원과 배치에 따른 장치장 점유율을 산정한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.428-431
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• 2002

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. ropes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And main schemes are introduced and explained briefly.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 춘계학술대회논문집
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• pp.64-71
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• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.143-151
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• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.