• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.630-639
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• 1999

To achieve fast loading and unloading of containers from a container ship, quick suppression of the remaining sway motion of the container at the end of each trolley stroke is crucial. Due to the pendulum motion of the container and disturbances like sind, residual sway always exists at the end of trolley movement. In this paper, the sway-control problem of a container crane is investigated. A two-stage control is proposed. The first stage is a time optimal controlfor the purpose of fast trolley traveling. The second stage is a nonlinear control for the quick suppression of residual sway, which starts right after the first stage while lowering the container. The nonlinear control is investigated in the perspective of controlling an underatuated mechanical system, which combines partial feedback linearization to account for the known nonlinearities as much as possible, and variable structure control to account for the unmodeled dynamics and disturbances. Simulation and experimental results are provided.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.05a
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• pp.298-299
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• 2011

최근 스마트폰의 수요증가와 대중화로 인하여 스마트폰을 활용한 다양한 연구가 진행 되고 있다. 이중 항만 물류 하역 시스템에도 스마트폰과 관련된 관심이 높아져 스마트폰을 이용한 다양한 서비스를 지원하고 그에 따른 다양한 프로젝트도 진행 중에 있다. 항만 물류 시스템은 중앙관리실에서 자동화된 시스템으로 관리되고 있으며 이중 하역장비 운용은 관리자가 중앙 관리실에서 원격으로 제어 하고 있다. 이는 관리자가 자리에 위치해 있어야만 관리가 가능하기 때문에 관리자의 이동성을 보장 하지 못한다. 따라서 본 논문에서는 스마트폰으로 하역장비를 원격제어 할 수 있도록 하여 관리자의 이동성을 보장하고 보다 효율적인 작업이 가능하도록 설계하였다. 또한 이를 테스트 해보기 위해 항만 하역장비 원격제어 시스템을 Lego_NXT를 이용하여 프로토타입으로 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.651-657
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• 1996

Industrial products are getting more and more complex. The number of parts or components and the variety of manufacturing processes are increasing. This leads to rapid product oriented machine tools. The process integrated CNC lathe is one of the these machine tools which can produce numerous parts and various machining processes and reduce the lead time and non-machining time. Therefore this study deals with the design technique of a process-intergated CNC lathe which can reduce the tact time and production cost by the speed-up of the tooling system and the high-speed machining oriented construction of 2 spindles and 2 turrets.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.10a
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• pp.33-37
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• 2000

Milling fixture is one kind of machining device according to the industrial demands for multi manufacturing products on the growing at alarming rate. In the field of design and making for machine tool working, welding, assembling with fixture for mass production is a specific division. In order to prevent the production defects, occurring, the optimum design of product, fixture putting in the field is very significant manufacturing method. They require analysis of many kinds of important factors, theory and practice of machine tool operating process and its situations, fixture and its structure, machining condition for tool making tool materials, heat treatment of fixture components, know-how and so on. In this study we designed and constructed a milling fixture of mass production and performed tryout under the AUTO CAD, database, I-DEAS and WINDOW environment. Especially part 1 of this study is reveals with the analysis of part drawing, fixture planning, fixture design etc.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.515-520
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• 2002

Automatic Transfer Crane is needed for automation of container terminal. It requires the control capability of exact position for loading/unloading job in yard. But it has the limitation of improvement because it has the operational environmental and its structural problems. It has the positioning errors caused by the deformation of rail, yawing motion of crane, wear of wheel, sliding motion between wheel and rail and so on. This study shows the calibration method of crane position by using the primitivity sensor and calibrating plate fixed on the ground.

• 한국정보디스플레이학회:학술대회논문집
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• 2000.01a
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• pp.77-78
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• 2000

We verified the charged static electricity on LCD glass influences upon the etching uniformity of dry etching process by plasma. In the TFT-LCD manufacturing process, we mainly paid attention to eliminate the static electricity for TFT reliability. The static electricity caused the serious ununiformity of etching surface profile and etching rate in the dry etch process. Through our experiment on the made static electricity from -200V to -1000V, it was confirmed that the static electricity on LCD glass caused the etching rate variation of $1.5%{\sim}15%$. We recommend the etching process equipment for LCD manufacturing have to establish the soft X-ray exposure module system for eliminating the static electricity inside the loading and unloading chamber.

• Macromolecular Research
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• v.13 no.5
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• pp.441-445
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• 2005

Thermoplastic polyurethane elastomer (TPUe) fiber mats were successfully fabricated by electrospinning method. The TPUe fiber mats were subjected to a series of cycling tensile tests to determine the mechanical behavior. The electrospun TPUe fiber mats showed non-linear elastic and inelastic characteristics which may be due to slippage of crossed fiber (non-bonded or physical bonded structure) and breakage of the electro spun fibers at junctions (point-bonded or chemical bonding structure). The scanning electron microscopy (SEM) images demonstrated that the point-bonded structures of fiber mats played an important role in the load-bearing component as determined in loading-unloading component tests, which can be considered to have a force of restitution.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.363-369
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• 1999

In these days, there are a lot of studies in the port automation, for example, unmanned container trasporter, unmanned gantry crain, and automatic terminal operation systems and so on. In terms of loading and unloading equipments. we can consider container transporter. This paper describes the automatic control for the UCT(unmanned container transporter), especially steering control systems. UCT is now operated on ECT port in Netherland and tested on PSA ports in Singapore. So we present a design on the controller using neural network PID(NNPID) controller to control the steering system and we use the neural network self-tuner to tune the PID parameters. The computer simulations show that our proposed controller has better performances than those of the other.

• Journal of Korean Port Research
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• v.5 no.1
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• pp.3-22
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• 1991

In recent years the hatchcoverless(or open-top) containerships have been evolving as a promising new concept for enhanced containership operations. The design concept of the hatchcoverless containership is innovative and appears to be worthwhile. especially from an operational viewpoint. The hatchcover and container lashing system have been eliminated and the containers are stacked in open hold fitted with cell guides. Thus this design concept can provide a more efficient and economically viable fleet due to the reduced time and cost of loading and unloading operations. Therefore turnaround time in port is also greatly reduced. This examination provides. brief background, advantages, brief review of new building containership, highlights of the pertinent areas requiring special consideration and recommendations of possible analyses herein.