• Title/Summary/Keyword: automated handling equipments

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A Study on the Tracking Control of a Transfer Crane with Tire Slip (슬립을 고려한 트랜스퍼 크레인의 주행제어에 관한 연구)

  • Jeong, Ji-Hyun;Lee, Dong-Seok;Kim, Young-Bok
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.12
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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.

Axiomatic Design of Composite Double Arm Type Robot Hands and Wrists for Handling Large Glass Panel Displays (공리 설계를 적용한 대형 평판 디스플레이용 더블암형 복합재료 로봇 핸드 및 리스트)

  • 이창섭;이대길;최진경
    • Proceedings of the Korean Society For Composite Materials Conference
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    • 2002.10a
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    • pp.241-244
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    • 2002
  • Recently, the size of glass panel is increased to $1250 mm{\times}1100 mm{\times}0.7 mm$, whose mass is 2.65 kg, which requires much stiffer robot structure. In addition to the high stiffness, the robot hands and wrists for glass panel handling should have miller surface finishing of its outer surface to prevent particles and dusts from adhering on the surface. The maximum height of the robot structure should not be larger than 1500 mm because other automated guided vehicles (AGV) and transfer equipments have been designed within this size limit. The difference of maximum deflections of the four ends of the hands before and after loading the glass panel should be less than 2.0 mm. In this work, the robot hands and wrists for handling large glass panel displays were designed based on the axiomatic design using the finite element method along with optimization routine.

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COMPUTER AIDED SCHECULING MODEL OF MATERIALS HANDSLING IN CHEMICAL ANALYSIS FLOOR

  • Fujino, Yoshikazu;Motomatu, Hiroyoshi;Kurono, Shigeru
    • 제어로봇시스템학회:학술대회논문집
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    • 1995.10a
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    • pp.31-34
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    • 1995
  • The automated chemical analysis shop floor are developed for the environmental pollution problems in our chemical analysis center. This shop floor have the several equipments include weight, pour, dry, heater, boiler, mixture, spectroscopy etc. And the material handling components are made up by the stored stack, conveyore, turntables, robot etc. Computer simulation has been an important tool for these complete design problem. We have designed the arangement of chemical equipments and material flow systems by using the simulator "AutoModII". "AutoMoII" is one of the advanced simulator, CAD-like drawing tools with a powerful, engineering oriented language to model control logic and material flow. The result is the modeling of the chemical analysis system in accurate, three dimensional detail. We could designed the set able layout and scheduling system by using the AutoMoII simulator. AutoMoII simulator.

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Container Flow Management in Port Logistics Based on BPM Framework

  • Nisafani, Amna Shifia;Park, Jaehun;Bae, Hyerim;Yahya, Bernardo Nugroho
    • Journal of Information Technology and Architecture
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    • v.9 no.1
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    • pp.1-10
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    • 2012
  • To promote process effectiveness and efficiency, it is necessary that port logistics employ automated equipments for handling containers. There exists a system for automatically managing the container flow, called Control Module. However, it has limitation to assign the execution order to the machine and monitor the container flow in real time process. Business process management (BPM) provides a suitable and effective framework to address this problem including controlling and monitoring the flow of each container. Since the nature of container handling process is different with the common process in BPM that is conducted by human performer, it is necessary to adjust the BPM framework in the domain of port logistic management. This study presents a BPM framework corresponds with both human-based and machine-based activity to enhance the efficiency of port process flow including container flow. This framework is introduced as an integrated approach and mechanism of BPM application into the container handling system for the purpose of port logistics process automation.

Export Container Remarshaling Planning in Automated Container Terminals Considering Time Value (시간가치를 고려한 자동화 컨테이너 터미널의 수출 컨테이너 이적계획)

  • Bae, Jong-Wook;Park, Young-Man;Kim, Kap-Hwan
    • Journal of the Korean Operations Research and Management Science Society
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    • v.33 no.2
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    • pp.75-86
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    • 2008
  • A remarshalling is one of the operational strategies considered importantly at a port container terminal for the fast ship operations and heighten efficiency of slacking yard. The remarshalling rearranges the containers scattered at a yard block in order to reduce the transfer time and the rehandling time of container handling equipments. This Paper deals with the rearrangement problem, which decides to where containers are transported considering time value of each operations. We propose the mixed integer programming model minimizing the weighted total operation cost. This model is a NP-hard problem. Therefore we develope the heuristic algorithm for rearrangement problem to real world adaption. We compare the heuristic algorithm with the optimum model in terms of the computation times and total cost. For the sensitivity analysis of configuration of storage and cost weight, a variety of scenarios are experimented.

Development of Operation Strategy to improve Efficiency for Twin Automated Transfer Crane in an Automated Container Terminal

  • Park, Byung-Joo;Choi, Hyung-Rim
    • Journal of Navigation and Port Research
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    • v.31 no.7
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    • pp.605-611
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    • 2007
  • In order to become a mega hub port, major ports all over the world are making every effort to enhance their productivity through efficiency of internal operation. Accordingly, in order to enhance the competitiveness of a container terminal, an automated container terminal is considered as the best alternative. An automated container terminal is using such automated handling equipment as AGV(Automated Guided Vehicles) and ATC(Automated Transfer Crane). The efficient equipment operation plays a critical role in enhancing the productivity of an automated container terminal. In an automated container terminal, the most important equipments are AGV and ATC. Each block of containers with a vertical layout is generally operating two ATCs. The two ATCs can be crossed or not at each block. In the case of operating crossover ATC, it has an advantage of high flexibility that ATC work is possible at both TP(Transfer Point) of each block. But it has also a disadvantage that the yard has to be operated at a low storage level of containers in the terminal yard. Recently, for automated container terminals, which are being prepared for opening in Korea, they plan to use uncrossed twin ATC in order to make the storage level of their yards high at a low cost. Therefore, studies have to be made in order to increase the efficiency of twin ATC system based on the flexibility that the crossover ATC system has. This research aims to suggest an operation strategy to improve efficiency of twin ATC at each storage block in a yard.

Assignment Problem Based Vehicle Dispatching for a Semiconductio FAB (반도체 라인 물류시스템에서의 할당문제 기반 차량 배차)

  • Kim, Byung-In;Shin, Jae-Joon;Jeong, Sang-Won
    • Proceedings of the Korean Operations and Management Science Society Conference
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    • 2006.11a
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    • pp.525-528
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    • 2006
  • This paper considers the vehicle dispatching problem in the automated material handling system (AMHS) of a large scale semiconductor fabrication line, which consists of 18 bays, 468 equipments and uses more than 130 overhead hoist transporters (OHT). We propose an assignment problem based vehicle dispatching approach to take advantage of simultaneous vehicle reassignment based on up-to-date system status. The proposed approach compares fsvorably with the shortest travel distance first rule and with the reassignment based rule which was recently proposed by the authors, in the number of vehicles required and the average lead time.

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A Study on CAE Integrated Design of Gantry Crane (갠트리 크레인의 CAE 통합설계에 관한연구)

  • 박경택;김두형;박찬훈;한동훈;홍성재
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1997.10a
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    • pp.720-725
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    • 1997
  • This paper is to study the wind effect of the large scale gantry crane. It is used to control the sway of gantry crane in the loadingiunloading job of containers. I'hls is very important in the automated container terminal because the sway of handling equipments in pard is caused by thc l~nexpected disturbance such as wind and dynamic inertia by deriving force. This study shows the process of the modelling simulation of the wind effect of the sway motion of the gantry crane. Pro-Engineer, ANSYS and DAD'; ~ rr . used for 3D solid modelling and dynamic simulation. Though this study did not use the real parameters. the ; cwl ~ shows the trend of the wind effect is very large in the large scale crane and should be considered in design of the large scale gantry crane. In future, if the study is done by using the real parameters, the result is much more ~ise!'ul for dynamic control and design of gantry crane.

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Anti-Sway System for Automated Crane (자동화 크레인을 위한 흔들림 방지 시스템)

  • 박찬훈;김두형;박경택
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1997.10a
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    • pp.446-449
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    • 1997
  • Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes arc passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. :opes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-sidc container cranes. In this paper, we derive cquatlons of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

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A Simulation Model for an ALV System at a Container Terminal (컨테이너 터미널의 ALV 시스템을 위한 시뮬레이션 모형)

  • Bae, Jong-Wook;Choi, Sang-Hee;Kim, Chang-Hyun;Park, Soon-O
    • Journal of the Korea Society for Simulation
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    • v.17 no.4
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    • pp.29-39
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    • 2008
  • Recently, an ALV (Automated Lifting Vehicle) is studied as an efficient transporter, which can reduce the waiting time during ship operation in a container terminal. There are little of studies on an ALV system considering dynamic factors after analysing the cooperation between equipments. The performance of an ALV depends on self-loading & unloading of an ALV, vehicle’s interference, and occupancy of an available transfer point under dynamic environment. So, it is very difficult to evaluate the productivity of a container terminal with an ALV system. Therefore the simulation model with operational rules that be apt for an ALV system must be developed. Also the model has to consider the characteristics of interface operations and vehicle traffic. Supposing an container terminal with perpendicular layout, this study analyses the process of container handling operation and proposes operational rules such as the ALV dispatching, routing algorithm and so on for a model. We developed a simulation model for a container terminal with an ALV system using object-oriented simulation software, Anylogic.

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