• Industrial Engineering and Management Systems
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• 제15권3호
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• pp.278-288
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• 2016

Automation ensures accurate and well-organized container transportation in container terminals. This paper addresses operational issues such as equipment scheduling and the coordination between various pieces of equipment in a rail-based automated container terminal. Containers are relayed using multiple types of equipment from road trucks to a vessel and vice versa. Therefore, handshaking is required during a container transfer between different pieces of equipment. Synchronization between the schedules of all the equipment is important to reduce equipment waiting times and the time required for transporting containers, which results in a short turnaround time for a vessel. This paper proposes an integrated control system with the objective of synchronizing the operations of different types of equipment, provides a list of decisions to be made by the control module of each type of equipment, and shows all the required information transfers between control modules. A scheme for the integrated scheduling of multiple types of equipment is proposed. The decisions made by each control module in a real-time fashion are listed with detailed explanations, and the information transfer between managers in a real-time situation at the proposed terminal is described.

• 한국항만학회지
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• 제12권2호
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• pp.217-224
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• 1998

During the operation of crane system in container yard, the objective is to transport the load to a goal position as quick as possible without rope oscillation. The container crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. Therefore, we developed an optimal controller which has to control the crane system with disturbances. In this paper, we present a design of optima 2-DOF PID controller for the control of gantry crane which has to control swing motion and trolley position. We used evolution strategy(ES) to tune the parameters of 2-DOF PID controller. It was compared with general PID controller. The computer simulations show that the proposed method has better performances than the other method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.960-964
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• 2004

During system resource improvement process that based on Object-Oriented technology could be affect to the continuous system performance if lack appropriate management and control objects mechanism. This paper proposes a methodology to support continuous system performance and its stability. The adoption is based on Java Container Framework and Collections Framework for object collection. Also includes Software Engineering, Object Migration and Multiple Class Loaders mechanism accommodate to construct Continuous Migration Container (CMC). CMC is a runtime environment provides interfaces for management and control to support upgrading object process. Upgrade object methodology of CMC can be divided into two phase are object equivalence checking and object migration process. Object equivalence checking include object behavior verification and functional conformance verification before object migration process. In addition, CMC use Multiple Class Loaders mechanism to support reload effected classes instead of state transfer in migration process while upgrading object. These operations are crucial for system stability and enhancement efficiency.

• 생물환경조절학회지
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• 제14권4호
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• pp.239-244
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• 2005

본 연구는 시설양묘 용기에서 직근성 수종인 찰피나무 유묘의 생육상황 및 뿌리발달 형태를 탐구하기 위하여 5개월 간 플라스틱 온실에서 수행되었다. 공시용기로 사용된 플라스틱 망 용기와 일반 플라스틱 용기에서 생육한 용기묘의 수고생장 차이는 크지 않았으나, 근원경 생장은 플라스틱 망 용기에서 높게 나타났다. 플라스틱 망 용기는 묘목의 뿌리발달에 영향을 끼쳐 묘목의 뿌리발달을 촉진시켰으며, 전체 지하부의 건물생산량을 증가시켰다. 특히 플라스틱 망 용기묘에서는 적극적으로 유도된 공기단근에 의하여 나선형 뿌리가 나타나지 않았다. 따라서 본 실험에 사용된 플라스틱망 용기는 찰피나무 용기묘 생산에 유용하게 활용할 수 있을 것으로 판단되며, 이 용기에서 생산된 묘목은 다양한 식재지 환경에서 식재될 경우 활착율 증가는 물론 생장율 증가도 보일 것으로 생각된다.

• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.23-31
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• 1997

The sway control problem of pendulum motion of a container hanging on a Portainer Crane, which transports containers from a container ship to trucks, is considered in the paper. The equations of motion are obtained through the Lagrange mechanics and simplified for control purposes. Considering that the fast traveling of trolley and no residual swing motion of the container at the end of acceleration and deceleration are crucial for quick transportation, several velocity patterns of trolley movement including the time-optimal control are investigated. Incorporating the change of rope length, a reference swing trajectory is introduced in the control loop and the error signal between the reference sway angle and the measured sway angle is feedbacked. Proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1998년도 추계학술대회논문집:21세기에 대비한 지능형 통합항만관리
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• pp.175-180
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• 1998

In container crane system, the variation of cargo weight have effect on the travelling and sway control of load. For precise travelling and/or anti-sway control of crane system, the cargo weight should be measured and considered with control algorithm. But, and added attachment for measuring the cargo weight put restraint upon the control freedom for travelling and anti-sway. In this paper, we propose an estimation method for cargo weight in container crane system by using observation technique. First of all, we model the container crane system as a bilinear system and transform this model into linear system with external disturbance model. Second, we propose a generalized type - disturbance estimation observer and set a disturbance model, where, the cargo weight is related with the sway of load, and the sway is represented as a periodic external disturbance. Lastly, by using simulation we verify that the proposed algorithm of disturbance estimation observer is effective to estimate the cargo weight, and it will be used with anti-sway control algorithm.

• 한국조경학회지
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• 제28권4호
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• pp.1-8
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• 2000

This study is conducted to evaluate the effects of root restriction on growth of maple(Acer palmatum Thumb.). Tow types of container such as clay pot(CP), root control bag(RCB) were used to restrict maple's root and each type of container was divided into 5 sizes. The containers with plants were buried just below the soil level and maples planted directly in the soil (nonrestricted root treatment) were included as comparison. Data were collected on dry weight of leaf, trunk, thick root, rootlet and soil water potential. We have analyzed, simple linear regression, Pearson's Correlation analysis, Duncan's multiple rang test, and Covariance Analysis using SAS statistical software. The results of analysis based on these data are as follows; 1. Total dry weight of maple in CP was significantly larger than in RCB. 2. Difference in growth reduction by the kinds of containers was induced by different hydraulic diffusion ratios between container and soil. Difference in growth reduction by the size of container was induced by the difference density of rootlet and soil moisture contents in the container. 4. Commercial products of root control of root control bag appeared not proper for countries in which fluctuation of rainfall is severe. Because maples in RCB were restricted by excess soil water in the rainy season, or by lack of soil water in the dray season.

• 조명전기설비학회논문지
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• 제23권2호
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• pp.115-124
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• 2009

본 논문은 컨테이너 크레인의 속도 및 위치의 고성능 제어를 위하여 적응 퍼지제어를 제안하였다. 컨테이너 크레인의 전동기는 에너지 및 환경문제에 대한 강인성을 갖는 가변속 드라이브인 SynRM으로 설정하였다. 종래의 PI 제어기는 파라미터 변동 및 외부환경에 의하여 트롤리의 정확한 위치, 속도와 sway 각을 제어하는데 어려움이 있다. 이러한 문제점을 해결하기 위해 본 논문에서는 적응 퍼지제어를 설계하여 크레인에 적용된 SynRM 드라이브의 성능을 분석하였다. 본 논문에서는 종래의 PI 제어와 적응 퍼지제어의 위치 및 속도 응답특성을 분석하고 비교함으로써, 논문의 타당성을 입증하였다.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1287-1294
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• 2004

Automated container terminals have been being developed over the world for recent years and many countries are interested in it because the amount of containers exported or imported is rapidly increasing. The conventional 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 so far. One of the most important things in developing automated container terminal is to develop the equipment able to handle many containers efficiently. Those are maybe automated transfer cranes, automatic 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 any interruption in working schedule. Through the researches on the conventional transfer cranes, we decided that the structure of the conventional transfer cranes is not efficient in automated container terminal and it's not possible to handle so many containers in limited time. Therefore we 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 concept and control method of a new type of transfer crane had been presented in the previous paper: Part Ⅰ. Experimental features will be presented with a model transfer crane in this paper: Part Ⅱ.

• 한국조경학회지
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• 제29권5호
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• pp.92-100
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• 2001

This study was conducted to evaluate the growth rate of landscape trees produced in containers for three year, and the growth rate of the establishment period during sixth month~twelve months after transplanting. Two types of container such as plastic pot(pot) and fabric growing bag(bag) were adopted to restrict tree roots. Each type of container was divided into seven sub-types. One traditional production method was included as comparison. Two landscape woody plant species (Magnolia denudata, Albizzia julibrissin) were planted in the seven sub-types of container. After one or two growing season in the container, the trees of each container type were transplanted. Half of the trees were transplanted in the mild spring season, and the other half were transplanted in the improper summer season. The data was collected on the diameter of root cellar and the tree height in each year. The research results are as follows; 1. Container production method was lower than the traditional production methods by 1.3 times ~ 2 times in the growth rates. 2. The Geocell bag and Root control bag revealed higher growth rates than pp-woven bag. And pot- in-pot(double pot)system revealed higher growth rates than the ether container pot system in A denudata. There were no differences in the growth rates between container production system in Albizzia julibrissin. 3, The growth rates of improper transplanting trees was high in the \"pot\" type - \"bag\" type - \"control\" in descending order. Especially, the growth rates of \"pot\" type revealed higher than \"control\" by 4 times. 4. From the results of ANOVA and Ad hoc test, the variable of growth factors of each container types in improper transplanting experiment was not significant for a range of 5% or 1% level. And the growth rates of traditional production method was lower than the container production method. 5. There was no differences in growth rate between the containerized and the traditional production system in the case of proper transplanting experiment. The growth rates of diameter of root collar was higher in the \"control\". The growth rates of tree height was higher in the \"bag\" type. Finally, based upon the results of this study, subsequent research on the development of container materials and maintaining methods that focused on the growth rates would be required.aintaining methods that focused on the growth rates would be required.