• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.74.1-74
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• 2001

In this paper, we deal with an allocation model of vertical type container yard for minimizing the total ATC work time and the equivalence of ATC work´s load in each block on automated container terminal. Firstly, a layout of automated container terminal yard is shown. The characteristic of equipment which is operated in the terminal and basic assumption are given. Next, an allocation model which concerns with minimizing the total work time and the equivalence of work´s load is proposed for the effectiveness of ATC work in automated container terminal. Also, a weight values on critical function are suggested to adjust the critical values by evaluating the obtained allocation plan. To find the solution of allocation model in given terminal yard situation, a GA is applied, where the real information of container is used ...

• 제어로봇시스템학회논문지
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• 제16권12호
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• pp.1212-1219
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• 2010

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the technical trends and environment of the automated container terminal, it is necessary that the systems for cargo handling are equipped with more intelligent control technologies. To cope with this tendency, from the middle of the 1990's, the automated RMGC (Rail-Mounted Gantry Crane) and RTGC (Rubber-Tired Gantry Crane) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. If we want to obtain more efficient handling performance, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control problems must be considered in the control system design and application process. Considering these problems, in this paper, the system modelling with the tire slip and a tracking control approach are proposed. Especially, we design the tracking control system based on the 2DOF servosystem design approach to cope with undesirable disturbance input. The experiment results show the desirable performance and usefulness of the designed control system.

• 한국항만학회지
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• 제13권2호
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• pp.381-388
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• 1999

To improve the productivity in the harbor, successful development of an UCT(Unmanned Container Transporter) is needed. Well-designed steering and velocity control systems are the key factor for the development of the UCT. In this paper, a research concerning the achievement of the steering control is introduced. To get an information on the guide line that the UCT should track, the vision system is applied. By using neural network, proper steering angle is gotten fast with less influence of the image disturbance. A simulation based on the UCT kinematics is performed with the measured steering angle, and it shows satisfactory results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 B
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• pp.1465-1467
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• 2005

In this paper, the harbor container crane which transports containers between a container ship and trucks in the harbor is modeled. The equation of motion is simplified for control purpose. The pole placement technique is used to control the crane to minimize load swing angle The objective of the control is to transfer the load as quickly as possible, while minimizing the amplitude of swing at the end of transfer. Computer simulations are provided.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.131.6-131
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• 2001

During the operation of crane system in container yard, it is necessary to control the crane trolley position and loop length so that the swing of the hanging container is minimized. Recently an automatic control system with high speed and rapid transportation is required. Therefore, we designed a controller to control the stacking crane system.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.26-32
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• 2007

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. In this paper, the system modelling and a tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the informations of the states. The experiment results show the usefulness of the designed control system.

• Journal of Advanced Marine Engineering and Technology
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• 제24권2호
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• pp.50-56
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• 2000

This paper presents the design of an optimal state feedback controller for container cranes under some design specifications. To do this, the nonlinear equation of a container crane system is linearized and then augmented to eliminate the steady-state error, and some constraints are derived from the design specifications. Designing the controller involves a constrained optimization problem which classical gradient-based methods have difficulties in handling. Therefore, a real-coding genetic algorithm incorporating the penalty strategy is used. The responses of the proposed control system are compared with those of the unconstrained optimal control system to illustrate the efficiency.

• 한국포장학회지
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• 제28권3호
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• pp.217-221
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• 2022

저온에서 신선육을 보관 저장하는 용기의 기체조성을 고CO₂/저O₂ 농도로 자동적으로 제어하는 용기 시스템을 제작하고, 0℃에서 21일간 돼지고기 삼겹살을 담아 저장하면서 품질보전의 측면에서 진공 포장과 함기 대조구 조건과 비교하였다. CO₂ 주입 시간 프로그램에 의하여 CO₂ 농도는 47~60%, O₂ 농도는 7~10%로 유지될 수 있었고, 이는 호기적 세균 증식과 pH 증가의 억제의 효과와 함께 관능적 품질유지에 기여하였다. 진공포장은 함기 대조구에 비하여 낮은 미생물 성장과 pH 증가를 보여주었으나 높은 drip 손실의 단점을 보였다. 전체적 품질보존의 측면에서 고안된 고CO₂ 치환 용기는 육류의 품질유지에 효과적이며, 육류의 종류와 특성에 맞게 기체 농도 조건을 변경하여 활용범위를 확장할 수 있을 것이다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1999년도 추계학술대회논문집
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• pp.309-314
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• 1999

The major movement block of the containers is range between apron and designation points on yard in container terminal. The yard tractor operated by human takes charge of it's movement in conventional container terminal. In unmanned container terminal, UCT(unmanned container transporter) has charge of the yard tractor's role and the navigation path is ordered from upper level control system. The unmanned container terminal facilities must have docking system that guided landing line to have high speed travelling and precision positioning in unmanned container terminal. The general method for docking uses the vision system with CCD camera, infra red, and laser. This paper describes the investigation for the developed docking method in view point of merit and demerit and introduces 속 result of developing the docking system with LSB(laser slit beam).

• 생물환경조절학회지
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• 제15권3호
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• pp.244-249
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• 2006

본 연구는 활엽수 대상 용기묘의 적정 상토를 개발하기 위해 상토의 원료 조성에 따른 노각나무, 찰피나무, 이팝나무 등 활엽수 용기묘의 생장 특성을 4개월간 시설온실에서 실시하였다. 사용된 상토중 코코피드나 피트모스 등이 상대적으로 많은 상토에서 노각나무, 찰피나무, 이팝나무 등 활엽수 용기묘의 수고생장과 근원경 생장이 높게 나타났으며 지상부와 지하부의 건물생산량 또한 뚜렷하게 증가한 경향을 보였다. 또한 생리적 특성에 있어서도 활엽수 용기묘의 광합성률이 상토내 코코피드와 피트모스가 많을수록 높아지는 경향을 보였다. 활엽수 용기묘의 생장에 대한 상토의 영향은 생장특성과 물질생산량 및 광합성과 같은 생리적 특성과 함께 관수 및 시비 체계도 지속적으로 연구해야 할 것이다.