• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1897-1900
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• 2004

In recent years, a lot of industrial equipments have serial communication channel such as FieldBus (CAN, Profibus, etc.) or Ethernet that provides real time communication between industrial equipments. Theses applications include gantry crane, robot, chip mounter, etc.. In this paper, we discuss the synchronization technique for networked multi-motor systems where controllers (commercial servo amps) are distributed and interconnected by CAN (Controller Area Networks). We first describe the equivalent model for the individual servo-amp and motor using the frequency response. We design the $H{\infty}$ controller for motion synchronization. Finally, the synchronization technique using the equivalent model and the $H{\infty}$ controller is verified by the simulation and the experiment.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.1071-1074
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• 2005

This paper suggests how can we guarantee terminal quality of service like ship waiting time ratio and ship residing time applying RFID(Radio Frequence IDentification) technology, raising up rapidly as a fundamental solution of new growing industry, to port information system. Also, lead time of whole port logistics can be decreased for reduction of loading & discharging time resulted from productivity improvement of G/C(Gantry Crane) and YT(Yard Tract) etc as applying RFID technology to terminal operation.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.905-908
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• 1987

A human operator has the ability to control a complicated system such as a gantry crane, an aircraft and a remote manipulator after enough training and learning. In this article, we attempt the positioning experiment of a flexible arm by a human operator. Flexible arm has nonlinearlity and infinite-degrees of freedom in general; thus it is difficult to obtain a control input. The operator interprets a given task and finds the procedure of operations. He devises an effective way of achieving the goal on the basis of his experience and knowledge about the task.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1634-1635
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• 2007

본 논문은 갠트리 크레인의 시뮬레이터를 제작하여 적응형 흔들림 제어기를 설계한다. 흔들림 감지는 디지털 카메라 센서를 이용하였으며 모델기반 적응제어를 이용하여 제어규칙을 산출한다. 제어규칙은 리아푸노브 안정성이론을 적용하였으며 정의된 리아푸노브 함수의 미분식이 음수를 갖기 위한 크레인의 적응형 제어입력을 계산한다. 제안한 제어기의 성능을 검토하기 위하여 실시간 제어실험을 실시하였으며 이송체의 무게 변화에 대한 적응성을 검토한다. 또한 기존의 PI 제어기도 함께 실험하여 성능의 비교 검토한다.

• Journal of Navigation and Port Research
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• v.30 no.9
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• pp.741-748
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• 2006

Number of researches on efficient terminal operation system applying RFID(Radio Frequency Identification) are in progress. However, RFID has limitations on tracking and providing accurate positions of containers. In this paper, to enhance the performance of the integrated terminal operation system, an efficient loading management of yard is proposed by applying RFID based RTLS(Real Time Locating System) that provides real time accurate positions of containers. It was found that a group based sequence system is more efficient than the existing individual sequence number system in the container yard In the group based sequence system, the containers in the same group should have similar characteristics such as port of destination(POD), size, weight, etc. In order to run this system, we proposed the parameters to the unspecified N bytes of RFID tag which are specified in ISO 18000 7. And then, we developed an integrated operation system of container terminal using RFID. The proposed system reduces the ship turnaround time in ubiquitous port environments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.04a
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• pp.276-277
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• 2010

This paper deals with energy storage system for saving the energy of RTGC(rubber tired gantry crane). Advantage and disadvantage of battery, super-capacitor, and flywheel as an energy storage system were surveyed. Even if a flywheel energy storage system includes some problems such as manufacturing technique and high price, it is surveyed with a promising energy storage system In addition, RTGCs using battery or flywheel as the energy storage system were quantitatively presented through a survey of literatures. It was found that the both RTGC with those systems can reduced the waste of energy.

• Journal of Electrical Engineering and Technology
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• v.8 no.1
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• pp.137-143
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• 2013

This paper presents development of variable speed generation (VSG) system with energy saving function. The rubber tyred gantry crane (RTGC) requires the power from diesel-engine. Significant fuel savings by reducing the engine speed can be achieved, because all of operation modes except hoisting are required lower power than rated value of engine. When low speed operation output voltage of generator is decrease until acceptable range of motor driver inverters and auxiliary load supplier. According to power demand engine speed is varying from 20 to 60Hz, and voltage is varying between 210Vac and 480Vac. When idle mode or low power operation dc/dc converter operates by constant output voltage control and inverters dc site voltage is compensated by it. This paper proposed 3-phase interleaved boost converter which has the same structure as the commercially available 3-phase inverter and current sharing capability. 400kW interleaved converter is designed and a performance of converter is evaluated through several experiments with a RTGC system. Energy saving VSG system can cut down fuel consumption by 36% and 21.3% at idle and unidirectional load operations.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.343-348
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• 2006

Number of researches on efficient terminal operation system applying RFID(Radio Frequency Identification) are on progress. However, RFID has limitations on tracking and providing accurate positions of containers. In this paper, to enhance the performance of the integrated terminal operation system, an efficient loading management of yard is proposed by applying RFID-based RTLS(Real Time Locating System) that provides real-time accurate positions of containers. We found that a group-based sequence system is more efficient than the existing individual sequence number system in the container yard. In the group-based sequence system, the containers in the same group should have similar characteristics such as port of destination(POD), size, weight, etc. In order to run this system, we have proposed the parameters to the unspecified N bytes of RFID tag which are specified in ISO 18000-7. And, this paper proposed a development of integrated operation system of container terminal using RFID for reducing the ship turnaround time in ubiquitous port environment.

• Journal of Korea Port Economic Association
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• v.18 no.2
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• pp.109-133
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• 2002

The China entered World Trade Oganization(WTO) last year, thus opening its border to more - and freer - trade. With its foreign trade rapidly expanding and with economic growth continuing at a substantial -rate, China will be the largest container traffic generating country in the world. In the light of this potential trade bonanza, regional ports in North-East Asia strive to gain a competitive-edge. The Port of Busan, the world's third largest container port, wants to capture a significant share of the china's container cargoes. In this circumstance, development strategies of the Port of Busan are suggested as follows. First, to cope with increasing volumes, the New Busan Port on Gaduk island should be constructed without failure. Second, it is necessary to add modernized high-performance gantry cranes and to train crane operators' skill. Third, it needs to apply Dwell Time- Sliding Scale System for transshipment cargoes. Fourth, it needs to develop the EDI network in terminal areas or adjacent hub ports to exchange trustworthy and satisfactory informations Fifth, port authority -needs to enlarge designated Free Trade Zone to facilitate the free flow of cargoes. Sixth, the restoration of rail links between North and South Korea is abundantly clear. Thus it needs to enlarge railroad facilities in advance. Seventh, it needs to establish the Port Authority of Busan immediately. Finally, it needs to strengthen port sales and to open events like 'Marine Week 2001' regularly to attract potential canters or big shippers.

• Journal of Korea Port Economic Association
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• v.24 no.2
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• pp.335-350
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• 2008

This paper analyzes the effects of port size on port tariff using the data for world major sixteen container ports. Some previous studies show that demand for port services have significant effects on port tariff, but we cannot find studies analyzing the correlation between the supply variables and the port tariff. In this paper, we used the five supply variables, which are the number of gantry crane, the number of berth, the quay length, the terminal area and the storage capacity for containers. The panel regression results are as follows. Port tariff generally decreases as port size increases, which shows that port tariff is explained by the economic theory. However, increase of port size, in some cases, does not reduce port tariffs, which may be due to monopolistic characteristics of port. This paper also shows that both demand and supply factors affect port tariff, but that demand factors have more consistent effect on port tariff than supply factors.