• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1327-1332
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• 2003

In this paper, an ATC(Automated Transfer Crane) control system is required rapid transportation to get highest productivity with low cost. Therefore, the container paths should be built in terms of the least time and least sway when container is transferred from the initial coordinate to the finial coordinate. So we applied the best-first search method for forming the container path, and calculated the anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the neural network two degree of freedom PID (TDOFPID) controller to control the precise navigation. For simulation, we constructed the container profiles so that we analyzed the state of formed path and the performance of TDOFPID controller to the formatted path. Then we compared the performance of ES-tuned PID controller with our proposed controller in terms of trolley position, anti-sway, path change, disturbance, and the load of containers. The computer simulation results show that the proposed controller has better the other on the various conditions.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2005.04a
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• pp.249-256
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• 2005

Rigorous FE(Finite Element) analyses of the cable-stayed bridge with steel-box girder, the main construction method of which is FCM (Free Cantilever Method), are presented in this paper. The analysis and the checking of design for a derrick crane under several loading conditions are performed using the software MIDAS/Civil and the beam elements are used to model the main structure. Among all the construction stages, special construction stages are chosen and considered to ensure the safety of segments of box girder The stress analysis for lifting of a segment of box girder is performed using the software SAP2000 and the shell elements of which having 6 DOF(Degrees Of Freedom) per nodes are successfully used to model the segment of box girder for the purpose of capturing the detailed behaviors on the folded-plates in the segment. Finally, concluding remarks are given to improve a design of the derrick crane and the segment based on the results from this study.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.5
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• pp.471-479
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• 2006

Automatic transfer equipments of manufacturing and process line trend toward big size as LCD glass is big size, heavy weight. The conventional stocker uses rotational motor and mechanical power converter device as travel axis of stocker crane and then frequent maintenances by complex structure and mechanical friction are required. Also it has problem to minimize the particle generation. To solve these problems, this paper verified the performance of permanent magnet(PM) excited transverse flux linear motor(TFLM) that is big power density per unit volume applied for travel axis of 7 generation stocker that is being big size, high power, long distance by the experiment based on proposed control algorithm, controller and power converter device.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.10a
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• pp.87-92
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• 2003

Generally, in jack up rig design for harsh environment, its leg height is a major factor for achieving a sufficient serviceability & operability in terms of the worst environment and the workable depth. Due to difficulties in constructing such a high-slender leg, inaccessibility of yard fabrication equipment, etc. the construction of Jack up rig fur harsh deep sea has not been common. Method using heavy crawler crane, fabrication tower or extension by the floating crane vessel is still conventional construction but, considering high cost fur mobilizing heavy lift vessel (HLV) or additional marine work for implementing preload / full height test at sea, the ground-base construction is much advantageous. Air skidding method (ASM hereafter) is ground-based construction methodology, newly developed due to such requests. ASM could also be extended to similar engineering fields. This paper presents the operating sequence, design parameters and procedure which were verified through successful operation at the end of May 2002.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.74-81
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• 2017

A crane is typically used as a means to lift and load equipment or materials. A surface vessel uses a towed object for underwater activity. Such a mechanism for dropping and lifting of equipment is necessary, and is called an overboarding unit. The present study is focused on the overboarding unit used for a crane structure. This paper deals with new overboarding mechanism design and GA-based $MATLAB^{(R)}$ optimization. By using a quadrilateral link mechanism, it is possible to set the constraint function for optimizing the GA method. The optimization with $MATLAB^{(R)}$ is followed by the $SolidWorks^{(R)}$ simulation and verification. When applying the proposed mechanism, the operator is expected to have a big advantage in safety and efficiency of operations. Furthermore, the technology developed in this study will be helpful in similar circumstances and in the proposed mechanism.

• Journal of Navigation and Port Research
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• v.31 no.8
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• pp.705-710
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• 2007

The productivity of automated container terminals is significantly affected by not only the speed related performances of automated transfer cranes(ATCs) but also the sizes of container blocks. In this paper, it is discussed how to determine the size of import container blocks considering both the container handling times of an ATC and their storage space. Firstly, evaluation models are suggested for the container handling times of an ATC in a typical import container blocks. Secondly, three mathematical formulations are suggested to determine the size of import container blocks. Numerical experiments for the suggested models to determine the size of import container block are provided.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.61-72
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• 2005

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications

• Journal of Navigation and Port Research
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• v.31 no.6
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• pp.531-536
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• 2007

In this paper we present an interpolation-LQ control technique which tunes continuously the controller gain by interpolating the gains of sub-LQ controllers. The proposed controller design technique is applied to the container crane system for simulations. Several cases of simulations are carried out in order to prove the control effectiveness and robustness. The simulation results of the proposed controller are compared with those of LQ controllers. The results showed better control performance than those of LQ controllers.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.12
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• pp.575-583
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• 2001

It is hard to obtain good robust performance and robust stability for uncertain and time-varying system. The robust 2-DOF controller is frequently used to obtain the desired response and the good robustness. Two controllers can be independently designed. Generally, one controller reduces sensitivity to parameter variations, nonlinear effects, and other disturbances. On the other hand, the other controller reduces the error between the desired command and output. In this paper, the various robust perfect MFCs(model-following controllers) combined with TDC(Time Delay Control) are designed, and the imperfect stable MFC combined with TDC and SMC(Sliding Mode Control) is proposed. These controllers are based on the method of designing robust 2-DOF controllers for dynamic system with uncertainty. The performance of the proposed imperfect sable MFC has been evaluated through computer simulations. The simulation results indicate that the proposed controller shows the excellent performance characteristics for an overhead crane with uncertain and time-varying parameters.

• International Journal of High-Rise Buildings
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• v.3 no.3
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• pp.205-214
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• 2014

The super high rise building construction is characterized by a large quantity of engineering works and structural components, high demanding of construction technology and complex cross operations. As the height of super high rise building increases, the construction difficulties increase, it is challenging the steel structural building construction technology. In this paper, the key technologies in the construction of Chinese modern super high rise steel structure building have been studied. The innovative tower crane supporting frame suspension disassembly technology has been developed to allow the crane supporting frame to turnover in the air without occupying materials stockyard. A new self-elevating platform technique which is capable of striding over structural barriers has been developed. This new technology allows the platform to be self-elevated along variable cross section column with a maximum 600 mm size change. A new automatic submerged arc welding technology has also been developed to ensure the process continuity and quality stability of welding job on the construction site.