• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2002년도 추계공동학술대회논문집
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• pp.161-167
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• 2002

Cai-go management facility of harbor are required an expansion due to increase of cargo quantity. Design technology of Yard AGV call be possible to deal many cargo rapidly and accurately. So it is produced a profit about cal-go management. This study is presented optimum of suspension parameter for design technology Yard AGV. Model I, II are modeled about Initial of container weight, height. When the maximum stroke of suspension is 0.26m, optimum is achieved to reduce the reaction force at the minimum. Also, the reaction force is study to become stability in I second. A change of spring constant and coefficient of damper make change the reaction force and minimum reaction force appear in optimum value. All modeling and analysis are used combination. contact element of Ansys program.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.219-225
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• 2000

The major movement block of the containers have range between apron and designation points on yard in container terminal. The yard tractor operated by human takes charge of its movement in conventional container terminal. In automated container terminal, AGV(Automated Guided Vehicle) has charge of the yard tractor's role and the navigation path is ordered from upper level control system. The automated container terminal facilities must have the docking system to guide landing line to have high speed travelling and precision positioning. The general method for docking system uses the vision system with CCD camera, infra red, and laser. This paper describes the detection of AGV's position and orientation using laser slit beam to develop docking system.

• 한국항해항만학회지
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• 제35권2호
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• pp.167-172
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• 2011

The motivation of this study is the recent advancement of the Straddle Carrier (S/C). Previously Straddle Carrier (S/C) system was used focusing on container lift on/off due to its lower driving speed than that of (Y/T). Shuttle Carrier is evaluated as an upgraded Straddle Carrier. Recently, however, the driving speed of (S/C) has been improved to the level of Yard Tractor and Trailer systems (Y/T), which is 30Km per hour which makes (S/C) qualified as terminal in-yard transportation equipment. This paper, therefore, aims to evaluate three types of terminal in-yard transportation equipments such as (Y/T), (AGV) and the advanced (S/C) from economic perspective. The results revealed that by observing the total costs of equipment, (S/C) is a cheaper option than (Y/T) over 20 years, and than (AGV) over 6 years.

• 한국항만학회지
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• 제14권3호
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• pp.291-301
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• 2000

T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.

• 한국정밀공학회지
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• 제18권12호
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• pp.137-144
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• 2001

The major movement blocks of the container are the range between the apron and the designation points on yard in container terminals. The yard tractor drived by operator takes charge of it's movement in conventional container terminals. In automated container terminal, AGV(automatic guided vehicle) takes charge of a yard tractor's role and information of navigation path are ordered from upper control system. The automated container terminal facilities must have the docking system that guides landing zinc to execute high speed travelling and precision positioning. This paper describes the new docking method with the rotating LSB(laser slit beam) generator and two pair of photo receiver. The LSB generator is installed on the fixed ground and the photo receiver is implemented on the moving vehicle such as AGV. The proposed docking system is implemented to confirm it's function and accuracy. The accuracy of measured moving position is represented in ±5mm at 1 data sampling.

• 한국시뮬레이션학회논문지
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• 제14권3호
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• pp.109-118
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• 2005

The purpose of this paper is to analyze transport ability of AGV(Automated Guided Vehicle) and SHC(SHuttle Carrier). The main difference between two types of transport vehicles is that AGV depends on container crane or transfer crane to do loading/unloading container, but SHC is very independent to it. Therefore, the transport ability of SHC is expected to be higher than AGV. So, in this paper, we established simulation model to evaluate two types of transport vehicles and analyzed the results. Simulation model was established to automated container terminal with perpendicular yard layout, and applied closed loop operation of transport vehicle between apron and stacking yard. In the result, SHC showed very superior than AGV aspect of container crane productivity and vehicle fleets.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2005년도 춘계학술대회 논문집
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• pp.57-63
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• 2005

The purpose of this paper is to analyze transport ability of AGV(Automated Guided Vehicle) and SHC(SHuttle Carrier). The main difference between two types of transport vehicles is that AGV depends on container crane or transfer crane to do loading/unloading container, but SHC is very independent to it. Therefore, the transport ability of SHC is expected to be higher than AGV, So, in this paper, we established simulation model to evaluate two types of transport vehicles and analyzed the results. Simulation model was established to automated container terminal with perpendicular yard layout, and applied closed loop operation of transport vehicle between apron and stacking yard. In the result, SHC showed very superior than AGV aspect of container crane productivity and vehicle fleets,

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2002년도 춘계학술대회논문집
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• pp.229-234
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• 2002

Immune system is an evolutionary biological system to protect Innumerable foreign materials such as virus, germ cell, and et cetera. Immune algorithm is the modeling of this system'response that has adaptation and reliableness when disturbance occur. In this paper, immune algorithm controller was proposed to control four wheels steering(4ws) Automated Guided vehicle(AGV) in container yard. And then the simulation result was analysed and compared with the results of NN-PID controller.

• 한국항해항만학회지
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• 제28권10호
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• pp.891-897
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• 2004

본 연구에서는 수직블록배치형태를 가지는 자동화 컨테이너 터미널을 대상으로 안벽과 야드의 연계작업을 수행하는 이송장비에 대한 시뮬레이션 모델을 수립하였다. 일반적으로 컨테이너 터미널은 안벽장비의 생산성으로 효율성이 평가되며, 안벽장비의 생산성을 최대화하기 위해서는 이송장비와 야드장비의 원활한 지원이 이루어져야 한다. 이중 이송장비는 안벽장비와 직접적으로 연계작업을 수행하므로 안벽장비의 생산성에 많은 영향을 미치는 요소이며, 운행대수와 주행방식에 따라 작업성능 또한 매우 달라지게 된다. 따라서, 본 연구에서는 이송장비의 작업생산성을 평가할 수 있는 시뮬레이션 모델을 개발하였으며, 수립된 모델을 통해 가상의 환경에서 다양한 이송장비의 운영에 따른 안벽장비의 생산성을 분석해 보았다.

• 산업공학
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• 제20권4호
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• pp.498-503
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• 2007

The synchronized operation of a quay crane(QC) and a transfer crane(TC) increases the productivity of a container terminal. In this paper, analytical models are suggested for the optimal number and the optimal operation of the yard trucks (YTs) which travel between a quay crane and a transfer crane in a container terminal. YT may represent yard tractor, AGV and shuttle carrier. The analytical models are so simple and useful that the analysis and the results of this paper can be used not only in container terminal practices but also in many other application fields.