• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1729-1734
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• 2005

The use of gantry crane systems for transporting payload is very common in industrial application. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, this paper describes development of an intelligent gantry crane system based on the mechatronic design. A lab-scale gantry crane is designed and then its intelligent controllers are developed. Fuzzy logic controllers are adopted, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. The performance of the intelligent gantry crane system is evaluated on a hardware-in-the-loop simulation (HILS) environment. Moreover robustness of the proposed system is also evaluated. The result shows that the intelligent gantry crane system designed based on the mechatronic design approach has better performance compared with the automatic gantry crane system controlled by classical PID controllers. Moreover simulation result shows that the intelligent gantry crane system is more robust to parameter variation than the automatic gantry crane system.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.450-453
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• 1997

An active control for the swing of crane systems is very important for increasing the productivity. This article introduces the control for the position and the swing of a crane using the fuzzy learning method. Because the crane is a multi-variable system, learning is done to control both position and swing of the crane. Also the fuzzy control rules are separately acquired with the loading and unloading situation of the crane for more accurate control. The result of simulations shows that the crane is just controlled for a very large swing angle of 1 radian within nearly one cycle.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1079-1082
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• 1996

Automatic control systems for warehouse composed of unmanned crane system and vision system. Unmanned crane system is introduced to reject oscillations of a load suspended from a trolley at a moment of its arrival at its target position. And vision system is applied to find out the coordinates of coils on trucks using image processing.

• International conference on construction engineering and project management
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• 2009.05a
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• pp.250-256
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• 2009

This paper presents a robotic tower-crane system using encoder and gyroscope sensors as path tracking devices. Tower crane work is often associated with falling accidents and industrial disasters. Such problems often incur a loss of time and money for the contractor. For this reason, many studies have been done on an automatic tower crane. As a part of 5-year 23-million-dollar research project in Korea, we are developing a robotic tower crane which aims to improve the safety level and productivity. We selected a luffing tower crane, which is commonly used in urban construction projects today, as a platform for the robotic tower crane system. This system comprises two modules: the automated path planning module and the path tracking module. The automated path planning system uses the 3D Cartesian coordinates. When the robotic tower crane lifts construction material, the algorithm creates a line, which represents a lifting path, in virtual space. This algorithm seeks and generates the best route to lift construction material while avoiding known obstacles from real construction site. The path tracking system detects the location of a lifted material in terms of the 3D coordinate values using various types of sensors including adopts encoder and gyroscope sensors. We are testing various sensors as a candidate for the path tracking device. This specific study focuses on how to employ encoder and gyroscope sensors in the robotic crane These sensors measure a movement and rotary motion of the robotic tower crane. Finally, the movement of the robotic tower crane is displayed in a virtual space that synthesizes the data from two modules: the automatically planned path and the tracked paths. We are currently field-testing the feasibility of the proposed system using an actual tower crane. In the next step, the robotic tower crane will be applied to actual construction sites with a following analysis of the crane's productivity in order to ascertain its economic efficiency.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.2
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• pp.85-91
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• 2012

Offshore Bridge Crane and Hoist which are used FPSO Ships that can move through self - power and have oil production, store and loading and unloading facilities are increasing demand. These equipments must use Crane safely by pitch and rolling of the high wave. For this, they have to be equipped with high durability and safety. So the advanced shipbuilding industries use a private design system which can be prompt in design and analyze in the first stage. For this study, It was developed a basic design system for "Bridge Crane and Hoist" used on FPSO ships. By developing this automated system for "Bridge Crane and Hoist" design, we will be able to make the design data easy to understand. This basic design system will help reduce the amount of working time it takes to design new systems, construct design databases and get approval for the finished design.

• International conference on construction engineering and project management
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• 2015.10a
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• pp.321-323
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• 2015

Monitoring crane motion in real time is the first step to identifying and mitigating crane-related hazards on construction sites. However, no accurate and reliable crane motion capturing technique is available to serve this purpose. The objective of this research is to explore a method for real-time crane motion capturing and investigate an approach for assisting hazard detection. To achieve this goal, this research employed various techniques including: 1) a sensor-based method that accurately, reliably, and comprehensively captures crane motions in real-time; 2) computationally efficient algorithms for fusing and processing sensing data (e.g., distance, angle, acceleration) from different types of sensors; 3) an approach that integrates crane motion data with known as-is environment data to detect hazards associated with lifting tasks; and 4) a strategy that effectively presents crane operator with crane motion information and warn them with potential hazards. A prototype system was developed and tested on a real crane in a field environment. The results show that the system is able to continuously and accurately monitor crane motion in real-time.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.8
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• pp.193-202
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• 1999

Crane operation for transporting heavy loads causes swinging motion at the loads due to crane's acceleration and deceleration. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. So, this swing of the objects is a serious problem and the goal of crane system is transporting to a goal position as soon as possible without the oscillation of the rope. Generally crane is operated by expert's knowledge. Therefore, a satisfactory control method to supress object sway during transport is indispensible. The dynamic behavior of the crane shows nonlinear characteristics. when the length of the rope is changed the crane is time varying system and the design of anti-sway controller is very difficult. In this paper, the nonlinear dynamic model for the industrial overhead crane whose girder, trolley and hoister move simultaneously is derived. and the Fuzzy logic controller based on the expert experiments during acceleration, constant velocity, deceleration and stop position period is proposed to supress the swing motion and control the position of the crane. The performance of the fuzzy controller for the nonlinear crane model is simulated on the personal computer.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.7
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• pp.144-150
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• 1999

n active control for the swing of crane systems is very important for increasing the productivity. This article introduces the control for the position and the swing of a crane using the fuzzy learning method. Because the crane is a multi-variable system, learning is done to control both position and swing of the crane. Also the fuzzy control rules are separately acquired with the loading and unloading situation of the crane for more accurate control. The result of simulations shows that the crane is just controlled for a very large swing angle of 1 radian within nearly one cycle.

• Journal of the Korean Society of Industry Convergence
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• v.2 no.1
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• pp.61-67
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• 1999

An active control for the swing of crane systems is very important for increasing the productivity. This article introduces the control for the position and the swing of a crane using the fuzzy learning method. Because the crane is a multi-variable system, learning is done to control both position and swing of the crane. Also the fuzzy control rules are separately acquired with the loading and unloading situation of the crane for more accurate control. And We designed controller by fuzzy learning method, and then compare fuzzy learning method with LQR. The result of simulations shows that the crane is controlled better than LQR for a very large swing angle of 1 radian within nearly one cycle.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.113-119
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• 2002

Recently, an automatic crane control system is required with high speed and rapid transportation. 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 We can do development of unmanned automation control system using automation travel control technique and anti-sway technique in crane system. Therefore, we designed a controller for Automation travel control to control the transfer crane system. Analyzed crane system through simulation, and proved excellency of control performance than other conventional controllers.