• 동력기계공학회지
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• 제12권6호
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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.

• 한국항해항만학회지
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• 제34권5호
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• pp.311-317
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• 2010

하역장치가 장착된 모바일하버 선박은 새로운 해상운송시스템 개념으로, 특정 정박지에서 대형 컨테이너 선박에 계류하여 해상상태 3 이하 조건에서 신속하면서 효율적인 컨테이너 하역작업을 수행하는 것이다. 모바일하버와 관련한 주요 연구로는 고속하역시스템, 부유체 구조 설계, 안벽하역시스템 해석 및 작업크레인 설계 등의 원천기술 개발을 중심으로 수행되었다. 본 연구는 모바일하버 선박의 하역작업 중 동적안정성 확보를 위한 계류안정화시스템을 개발하고자 하는 것으로, 국내외 계류장치에 대한 현황 분석을 기초로 현재 선박에 탑재되어 있는 의장장치인 윈치시스템에 계류안정화 기능을 추가시킨 포지셔닝윈치를 개발하여 모선과의 상대운동을 최소화하는 방안에 대한 개념설계를 제안한다.

• 한국농공학회논문집
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• 제55권2호
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• pp.47-57
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• 2013

This study is to assess the reduction of non-point source pollution loads for rice straw mulching of upland crop cultivation at a watershed scale. For Byulmi-cheon watershed (1.21 $km^2$) located in the upstream of Gyeongan-cheon, the HSPF (Hydrological Simulation Program-Fortran) and SWAT (Soil and Water Assesment Tool), physically based distributed hydrological models were applied. Before evaluation, the model was calibrated and validated using 9 rainfall events. The Nash-Sutcliffe model efficiency (NSE) for streamflow using the HSPF was 0.62~0.76 and the determination coefficient ($R^2$) for water quality (sediment, total nitrogen T-N, and total phosphorus T-P) were 0.72, 0.62, and 0.63 respectively. The NSE for streamflow using the SWAT were 0.43~0.81 and the $R^2$ for water quality (sediment, T-N, and T-P) were 0.54, 0.87, and 0.64 respectively. From the field experiment of 16 rainfall events, the rice straw cover condition reduced surface runoff average 10.0 % compared to normal surface condition. By handling infiltration capacity (INFILT) in HSPF model, the value of 16.0 mm/hr was found to reduce about 10.0 % reduction of surface runoff. For this condition, the reduction effect of sediment, T-N, and T-P loads were 87.2, 28.5, and 85.1 % respectively. By handling soil hydraulic conductivity (SOL_K) in SWAT model, the value of 111.2 mm/hr was found to reduce about 10.0 point reduction of surface runoff. For this condition, the reduction effect of sediment, T-N, and T-P loads were 80.0, 83.2, and 78.7 % respectively. The rice straw surface covering was effective for removing surface runoff dependent loads such as sediment and T-P.

• 전기학회논문지
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• 제60권8호
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• pp.1599-1605
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• 2011

From now on, power line communication was made use of controling using 450 kHz narrow band, but as the PLC technology developing, in the near future get to the commercial step that is broadband PLC upto 30 MHz. In this paper, analyze the possibility of moving picture transmission for adapting surveillance camera which is among of the application of PLC. To analyze characteristics of channel, estimate the noise and impedance of lab, office, home. In case of noise, there is no problem to communicate each other because of 20 ~ 50 dB gain. In case of impedance, average impedance is about 100 ohm, it satisfy standards of designing modem but because max and min values get out of expectation there are some problem to acquire fully capacity of modems. Its condition is the same as transmission of multimedia data. In this test as more packets, as more handling rate, in lab, for the case that transmit 1,518 byte as the speed of 6 Mbps handling rate is upto 100%, it means possibility of moving picture transmission as the 6 Mbps speed. For delayed time there is no relationship about transmitted packets. As a result, there is no problem about applying surveillance camera via the PLC. And more cameras can work within PLC for considering the number of transmitted frames.

• 한국정밀공학회지
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• 제30권9호
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• pp.909-913
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• 2013

Various types of large substrate handling robots are used in the thin file solar cell manufacturing line as well as LCD or PDP production line. Because the robot handles the heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. As the substrate becomes larger and heavier, robot systems are also larger and the vibration issue of the robot end-effector becomes more important. In the paper, we established the robot modeling and the control architecture including the flexible part such as forks. Then, we performed dynamic simulation in the various condition and analyzed the characteristics of the fork vibration. We can reduce the vibration using the trajectory planning and input shaping algorithm and it was proved by experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1520-1523
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• 1997

A rigorous dynamic simulation was performed in binary gas mixture H$_{2}$/CO (70:30 vol.%) to determinate start-up operating conditions of PSA(Pressure Swing Adsorption) processes. The rigorous dynamic model for the PSA process contains an Ergun equation for expressing the pressure drop in a bed, and valve equations to compute the boundary pressure change of the bed. As the result of the continuous dynamic simulation of 100 operating cyles in various initial conditions, the unsteady-state appeared in the early period and the cyclic steady-state came out about 20th cycle in feed condition and vaccum condition, and 30th cycle in pure H$_{2}$ condition. As time goes by valve equations made change the pressure at each end of the bed in ressurization, countercurrunt-depressurization and pressure equalization steps. The H$_{2}$ purity and the recovery is 99.99% and 86.73% respectively, which is slightly higher than the experimental data. Main contributiion of this study includes supplying fundamental technologies of handling combined variables PSA processes by developing rigorous models.

• 한국가스학회지
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• 제21권4호
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• pp.21-29
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• 2017

유해화학물을 취급하는 중소규모의 사업장에 대하여 시설을 세부점검하였으며 이를 정리하였다. 점검결과는 크게 공정, 저장소, 작업자 및 기타 사항으로 구분하여 현황 및 문제점을 정리하고 이에 대한 세부적인 개선방안을 제시하였다. 전반적으로 법규를 만족하기만 하면 된다는 인식하에 최소한의 요구조건만을 갖추어 놓고 있었으며 이에 대한 지속적인 관리가 미흡한 것으로 결론되었다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1998년도 추계학술대회논문집:21세기에 대비한 지능형 통합항만관리
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• pp.51-58
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• 1998

This study is to define the Automated Container Terminal(ACT) and container terminal system. Also, we analyze the present condition of the container terminal system in Pusan port and its automation level by systems approach. And this paper aims at evaluating on the priority of R&D investment until the beginning of the second stage of New Pusan Port Project(2006). In this process we have considered 8 factors (cost, labor, area, time volume, reliability, safety, convenience) to analyze 6 subsystems. The priority order of R&D until target year by sub-systems is as follow : Cargo Handling System〉Transfer System〉Port Entry System〉Storage System(Distribution&Manufacturing System included)〉Inland Transport System〉Port Information System.

• Journal of Advanced Marine Engineering and Technology
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• 제24권4호
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• pp.502-508
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• 2000

The amount of container freight is continuously increasing recently, but freight congestion problem frequently occurs at ports due to low efficiency of container crane in transportation and cargo handling. In this paper, a method for designing a fuzzy controller of the container crane system is presented. In this scheme a mathematical model for the system is obtained in state space representation. The response of the proposed fuzzy controller is compared with that of the optimal controller at the same condition. Through the simulation results, the performance of the fuzzy controller was observed better than that of optimal controller in respect of reference change, disturbances and parameter change. The fuzzy controller was also more stable and robust than the optimal controller.

• 한국정보통신학회논문지
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• 제17권10호
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• pp.2454-2460
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• 2013

지금까지 일반화물의 항만하역능력은 수리적 모델을 기반으로 단순 계산하는 방법으로 산정되었다. 본 논문은 수리적 모델 기반의 계산 방법이 갖는 현실을 반영하지 못하는 한계점을 극복하고자 시뮬레이션 기법을 적용하였다. 항만에서 전용부두의 하역작업 사례로 적정 하역능력을 산정하기 위해 안벽 프로세스 규칙들을 반영한 선박 입항부터 출항까지 발생되는 프로세스를 모델링하였고, 프로토타입을 개발하여 시뮬레이션을 수행하였다. 묵호항의 실제 처리능력과 시뮬레이션 결과를 비교하였고, 시뮬레이션 프로토타입의 입력변수 조건을 반복적으로 실험함으로서 적정 능력을 산정할 수 있었다.