• Journal of Power System Engineering
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• v.12 no.6
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• pp.42-49
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• 2008

The most important job in the container terminal area 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. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• Proceedings of the Korean Information Science Society Conference
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• 1998.10c
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• pp.384-386
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• 1998

The use of hand gesture provides an attractive alternative to cumbersome interface devices for human-computer interaction(HCI). Many methods hand gesture recognition using visual analysis have been proposed such as syntactical analysis, neural network(NN), Hidden Markov Model(HMM) and so on. In our research, a HMMs is proposed for alphabetical hand gesture recognition. In the preprocessing stage, the proposed approach consists of three different procedures for hand localization, hand tracking and gesture spotting. The hand location procedure detects the candidated regions on the basis of skin-color and motion in an image by using a color histogram matching and time-varying edge difference techniques. The hand tracking algorithm finds the centroid of a moving hand region, connect those centroids, and thus, produces a trajectory. The spotting a feature database, the proposed approach use the mesh feature code for codebook of HMM. In our experiments, 1300 alphabetical and 1300 untrained gestures are used for training and testing, respectively. Those experimental results demonstrate that the proposed approach yields a higher and satisfying recognition rate for the images with different sizes, shapes and skew angles.

• Structural Engineering and Mechanics
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• v.59 no.5
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• pp.803-820
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• 2016

In this study a direct displacement-based design (DDBD) procedure for a continuous deck bridge isolated with triple friction pendulum bearings (TFPB) has been proposed and the seismic demands of the bridge such as isolator's displacement and drift of piers obtained from this procedure evaluated under two-directional near-field ground motions. The structural model used here are continuous, three-span, castin-place concrete box girder bridge with a 30-degree skew which are isolated with 9 different TFPBs. By comparing the results of DDBD method with those of nonlinear time history analysis (NTHA), it can be concluded that the proposed procedure is able to predict seismic demands of similar isolated bridges with acceptable accuracy. Results of NTHA shows that dispersion of peak resultant responses for a group of ground motions increases by increasing their average value of responses. It needs to be noted that the demands parameters calculated by the DDBD procedure are almost overestimated for stiffer soil condition, but there is some underestimation in results of this method for softer soil condition.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.12
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• pp.1925-1930
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• 2010

For high-speed/high-accuracy position control of a gantry-moving-type linear motor, we propose a nonlinear adaptive controller including a synchronization algorithm. Linear motors are easily affected by force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbances. Synchronization error is also caused by skew motion, model uncertainties, and force disturbance on each axis. Nonlinear effects such as friction and ripple force are estimated and compensated for. The synchronization algorithm is used to reduce the synchronous error of the two side pillars. The performance of the controller is evaluated via computer simulations.

• Structural Engineering and Mechanics
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• v.53 no.2
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• pp.227-248
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• 2015

A CFPBS (Cone-type Friction Pendulum Bearing System) was developed to control the acceleration delivered to a structure to prevent the damage and degradation of critical communication equipment during earthquakes. This study evaluated the isolation performance of the CFPBS by numerical analysis. The CFPBS was manufactured in the shape of a cone differenced with the existing FPS (Friction Pendulum System), and a pattern was engraved on the friction surface. The natural frequencies of the CFPBS were evaluated from a free-vibration test with a seismic isolator system consisting of 4 CFPBS. To confirm the earthquake-resistant performance, a numerical analysis program was prepared using the equation of the CFPBS induced from the equations of motion. The equation reported by Tsai for the rolling-type seismic isolation bearings was proposed to design the equation of the CFPBS. Artificial seismic waves that satisfy the maximum earthquake scale of the Korean Building Code-Structural (KBC-2005) were created and verified to review the earthquake-resistant performance of the CFPBS by numerical analysis. The superstructural mass of the CFPBS and the skew angle of friction surface were considered for numerical analysis with El Centro NS, Kobe NS and artificial seismic waves. The CFPBS isolation performance evaluation was based on the numerical analysis results, and comparative analysis was performed between the results from numerical analysis and simplified theoretical equation under the same conditions. The validity of numerical analysis was verified from the shaking table test.

• Journal of the Earthquake Engineering Society of Korea
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• v.15 no.2
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• pp.23-33
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• 2011

In this study, a CFPBS (Cone-type Friction Pendulum Bearing System) was developed which controls the acceleration delivered to the structure to prevent damage and degradation of the critical communication equipment in case of an earthquake. The isolation performance of the CFPBS was evaluated by numerical analysis. The CFPBS was manufactured in the shape of a cone differenced from the existing FPS (Friction Pendulum System), and a pattern was engraved on the friction surface. The natural frequencies of the CFPBS were evaluated from a free-vibration test with the seismic isolator system consisting of four CFPBSs. In order to verify its earthquake-resistant performance, a numerical analysis program was created from the equation of the CFPBS induced from the equations of motion. A simplified theoretical equation of the CFPBS was proposed to manufacture the equipment which could demonstrate the necessary performance. Artificial seismic waves satisfying the maximum earthquake scale of the Korean Building Code-Structural (KBC-2005) were created and verified to review the earthquake-resistant performance of the CFPBS by numerical analysis. The superstructural mass of the CFPBS and skew angle of the friction surface were considered for numerical analysis with El Centro NS (1940), Kobe NS (1995) and artificial seismic waves. The CFPBS isolation performance evaluation was based on the results of numerical analysis and the executed comparative analysis between the results from numerical analysis and the simplified theoretical equation under the same conditions.