• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 1999년도 추계학술대회논문집
• /
• pp.333-344
• /
• 1999

Currently many studies on the unmanned gantry crane for the automated container terminal are accomplished. This is needed for the development of large scale, automation, high speed, unmanned system and information system in port facility. In order to do efficient container handling job in port yard, the automated handling system is well adapted to the job environments and all-season weather, In order to realize the automatic and unmanned system for container handling job, the required functions and main structure system are studied. The major problems of operation of the conventional gantry crane are that the vibration of gantry structure body is occurred by operation and that high-speed and precision position-velocity control and the capability to dope to the external disturbances caused by the wind, rain, fog and job environments. In this paper, the fundamental study for establishment of the concept and the dynamic modelling of the major sub system of the unmanned gantry crane is presented. These studies are useful for design and manufacturing of the new concept model of the unmanned gantry crane for efficient operation of the automated container terminal.

• 한국산학기술학회논문지
• /
• 제12권10호
• /
• pp.4296-4301
• /
• 2011

갠트리 로더(Gantry loader)는 생산설비 자동화의 물류이송에서 중요한 역할을 하고 있다. 최근 물류 반송거리가 확대되면서 이동반(Carrier)과 제어반(Controller)의 유선연결로 갠트리 운동의 장해, 주기적 유지보수로 인한 시간 지연 등이 문제점으로 대두되고 있다. 본 연구에서는 이동반과 제어반의 연결을 무선화 하여 생산효율을 향상시키고자 갠트리 로더의 기구부를 트롤리 바(Trolley Bar)를 사용하여 개선하고 무선통신 시스템과 모션 제어기 및 제어 프로그램을 제작하여 무선 갠트리 로더 시스템을 개발하였으며 유선 갠트리 시스템과의 비교 평가를 통해 정밀도와 안정성을 확인하였다.

• 산업경영시스템학회지
• /
• 제43권4호
• /
• pp.67-75
• /
• 2020

This paper proposes a methodology for gantry route optimization in order to maximize the productivity of a odd-type surface mount device (SMD). A odd-type SMD is a machine that uses a gantry to mount electronic components on the placement point of a printed circuit board (PCB). The gantry needs a nozzle to move its electronic components. There is a suitability between the nozzle and the electronic component, and the mounting speed varies depending on the suitability. When it is difficult for the nozzle to adsorb electronic components, nozzle exchange is performed, and nozzle exchange takes a certain amount of time. The gantry route optimization problem is divided into the mounting order on PCB and the allocation of nozzles and electronic components to the gantry. Nozzle and electronic component allocation minimized the time incurred by nozzle exchange and nozzle-to-electronic component compatibility by using an mixed integer programming method. Sequence of mounting points on PCB minimizes travel time by using the branch-and-price method. Experimental data was made by randomly picking the location of the mounting point on a PCB of 800mm in width and 800mm in length. The number of mounting points is divided into 25, 50, 75, and 100, and experiments are conducted according to the number of types of electronic components, number of nozzle types, and suitability between nozzles and electronic components, respectively. Because the experimental data are random, the calculation time is not constant, but it is confirmed that the gantry route is found within a reasonable time.

• 한국기계가공학회지
• /
• 제14권6호
• /
• pp.122-128
• /
• 2015

Recently, as the demand for high efficiency, multi-function machine tools has increased, domestic machine tool industries are investing in research and development for Gantry-Type Machining centers. In this thesis, for the purpose of evaluating machining accuracy and designing a machine tool structure, a simplified model of the main frame is suggested. The results show the general characteristics of the optimum design, and the approach is shown as practicable for the preliminary design analysis and improvement of a conceptual design of a Gantry-Type Machining center. This paper's results are expected to improve the static characteristics of Gantry-Type Machine centers. The three-dimensional finite element models proved that the modeling method might be applied to real machine tool structures.

• 제어로봇시스템학회논문지
• /
• 제8권6호
• /
• pp.514-523
• /
• 2002

Feeder arrangement is an important element of process planning for printed circuit board assembly systems. This paper newly proposes a feeder arrangement method for multihead-gantry chip mounters. The multihead-gantry chip mounters are very popular in printed circuit board assembly system, but the research has been mainly focused on single-head-gantry chip mounters. We present an integer programming formulation for optimization problem of multihead-gantry chip mounters, and propose a heuristic method to solve the large NP-complete problem in reasonable time. Dynamic programming method is then applied to feeder arrangement optimization to reduce the overall assembly time. Comparative simulation results are finally presented to verify the usefulness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.336-336
• /
• 2000

This paper studied on the yaw motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But if the gantry crane is unmanned, it is automatically controlled without any human operation. There are two types, cone and flat typo in driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. To bring a solution to these problems, the dynamic equation of the gantry crane driving mechanism is derived and it used PD(Proportional-Derivative) controller to control the lateral vibration. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.283-283
• /
• 2000

In this paper, we deals with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry crane's characteristics, the system is decentralized into two subsystems such as the travelling and sway subsystem, and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using observability canonical form. The decentralized subsystems include unknown input which coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques and those estimated values are used to construct an input compensation form. Lastly, the proposed decentralized control scheme far the gantry crane systems is verified by crane simulation.

• 제어로봇시스템학회논문지
• /
• 제7권4호
• /
• pp.281-287
• /
• 2001

In this paper, we deal with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry cranes characteristics, the system is decentralized into two subsystems, the travelling and swaying subsystem and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using the observability canonical form. The decentralized subsystems include unknown inputs that one coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques. And those estimated values are used to construct an input compensation form. Finally, the proposed decentralized control scheme for the gantry crane systems is verified by crane simulation.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2006년도 춘계학술대회 및 창립 30주년 심포지엄(논문집)
• /
• pp.339-344
• /
• 2006

컨테이너 터미널의 생산성의 주요 지표로서 선박작업 생산성이 강조되고 있으며, 이는 갠트리 크레인의 작업에 크게 의존되고 있다. 갠트리 크레인의 작업시간에 발생되는 고장시간 및 고장수리시간에 의해 크레인의 본선작업 가동율이 결정되며, 이로서 체선시간이 좌우되고 있다. 본 연구에서는 갠트리 크레인의 예방보전 주기를 새롭게 설정함에 의하여 크레인의 고장을 감소시키며, 이로서 선박작업 생산성에 미치는 영향을 지표로서 제시하고자 한다.

• 한국방사선학회논문지
• /
• 제14권1호
• /
• pp.15-22
• /
• 2020

PET(Positron Emission Tomography)장치는 해부학적 정보를 얻기 위한 CT와 MRI의 장치를 PET 장치와 융합시킨 PET/CT나 PET/MRI 장치로 사용된다. 그렇기 때문에 일반 의료장비들과 비교하여 Gantry(촬영부 본체)의 길이가 늘어나고 내부의 공간이 넓어지는 원형(ring)타입의 구조로 제작된다. PET 장치의 구성요소 중 하나인 신틸레이터는 Gantry 안쪽에 위치하는데 온·습도 변화에 민감한 크리스탈 성분으로 되어있기 때문에 커다란 온도 변화로 인해 신틸레이터의 손상을 가져올 수 있다. 신틸레이터는 항온항습기로 PET장치가 설치되어 있는 공간에 온·습도를 유지하지만 이러한 PET 장치의 구조적 원인과 CT 장비에서 발생하는 열로 인한 Gantry 내부의 온·습도의 변화가 예상된다. 항온항습기를 가동하여 온·습도를 유지중인 PET/CT 장치의 Gantry 내부를 6개의 구역으로 나눈 후 각 구역에 Arduino 온·습도 센서인 Adafruit BME 280을 부착하여 출력 값을 분석했다. 각 6개 구역에서 센서를 이용해 측정한 평균 온·습도 값과 항온항습기의 평균 측정값을 비교하면 평균적으로 온도는 2.71℃ 상승, 습도는 21.5% 감소의 차이가 발생하였고, PET Gantry의 온·습도 측정값은 국내에서 지정한 정도 관리 범위에서 벗어나는 결과 값이 나왔다. 연구 결과를 통해 앞으로 지속적인 온·습도의 변화를 가진다면 PET Gantry 안에 장착된 신틸레이터의 노후화가 예상되므로 Gantry구조 내부의 온·습도를 적절히 유지하는 방안을 모색해야 한다.