• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.428-431
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• 2002

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 are 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. ropes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And main schemes are introduced and explained briefly.

• 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.

• Fire Science and Engineering
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• v.31 no.1
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• pp.58-62
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• 2017

There is a growing need for seismic resistance design. But it is controversial that standards of sway brace device in non-structural elements for buildings like pump waterway is vary widely. Therefore, in this study to get a valid range of sway brace device in seismic resistance design, using load test of sway brace device. As a result, load of safe range from 0 to 18.5 kN and under 29.4 kN, no structural fault of sway brace device. And using internet of things get a data of seismic resistance design from sensor node like accelerometer, GPS, tilt sensor and temperature sensor through steps of sampling and prediction. These results will be acceptable for monitoring system for seismic resistance in non-structural elements.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.526-529
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• 2002

The development of automated container terminal has been a hot issue for recent years. It's very natural because it's very important how many containers, how soon, and how precisely a container terminal can treat. A crane treats a very heavy container, maybe, no less than 20∼40 tons, thus most cranes use ropes to take up and land containers. But rope causes the sway of a container and this phenomenon is not avoided. On the ground of this, in most case how much skillful a driver is may affect the productivity of a yard or quay crane. Thus many researches have been concentrated on the development of the control algorithm for a crane which may be useful and robust enough to drive a crane without any human driver. Authors of this paper also are interested in this kind of research but we have been much more interested for years in the development of a mechanical structure which may cause much less sway than the existing cranes do. In this paper, we may introduce the basic structure of the developed anti-sway system.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.339-341
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• 2006

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. We estimate the relative position information between the spreader and a container using the laser range finder and tilt sensor through the geometrical analysis.

• Journal of The Korean Society of Integrative Medicine
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• v.11 no.3
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• pp.25-33
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• 2023

Purpose : Stabilization exercise and respiratory muscle training are used to train trunk muscles that affect postural control and respiratory function. However, there have been no studies that combine stabilization exercise and respiratory muscle training. The purpose of this study is to investigate effects of stabilization exercise with and without respiratory muscle training on respiratory function and postural sway. Methods : Fifteen healthy adults were recruited for this experiment. All the subjects performed stabilization exercise with and without respiratory muscle training. For stabilization exercise with respiratory muscle training, the subjects sat on a gym ball wearing a stretch sensor. The subjects inspire maximally as long as possible during lifting one foot off the ground, alternately for 30 seconds. The stretch sensor was placed on both anterior superior iliac spine (ASIS), and the stretch sensor was used to monitor inspiration. For stabilization exercise without respiratory muscle training, the subjects sat on a gym ball and lifted one foot off the ground, without respiratory muscle training. Kinovea program used to investigate postural sway tracking during exercise. The maximum inspiratory pressure (MIP) and maximum expiratory pressure (MEP) were measured using a spirometer to investigate changes of respiratory muscle strength before and after exercise. A paired t-test was used to determine significant differences postural sway tracking, MIP, and MEP between stabilization exercise with and without respiratory muscle training. Results : There were significantly lower a distance of postural sway tracking during stabilization exercise with respiratory muscle training, compared with stabilization exercise without respiratory muscle training (p<.05). The MIP and MEP were significantly increased after stabilization exercise with respiratory muscle training compared with before stabilization exercise with respiratory muscle trianing (p<.05). Conclusion : The results of this study suggest that stabilization exercise with repiratory muscle training would be recommended to improve postural control and respiratory muscle strength.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1679-1684
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• 2004

This paper introduces a novel approach that can provide the three dimensional information on the movement of a spreader by using two CCD cameras and a laser distance sensor, which enables an ALS (Automatic Landing System) to be used for yard cranes at a harbor. So far a kind of 2D Laser scanner sensor or laser distance measuring units are used as corner detectors for the geometrical matching between the spreader and a container, which provides only 2D information which is not enough for an accurate and fast ALS system required presently. In addition to this deficiency in performance, the price for the system is too high to be adopted widely for the ALS. Therefore, to overcome these defects, a novel method to acquire the three dimensional information for the movement of a spreader including skew and sway angles is proposed using two CCD cameras and a laser distance sensor. To show the efficiency of proposed algorithm, real experiments are performed to show the accuracy improvement in distance measurement by fusing the sensory information of CCD camera and laser distance sensor.

• Journal of Ocean Engineering and Technology
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• v.22 no.4
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• pp.90-96
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• 2008

In general, the swing motions of a crane are controlled and suppressed by controlling the trolley motion. In many of our previous studies, we suggested a new type of anti-sway control system for a crane. In this proposed control system, a small auxiliary mass (moving-mass) is installed on the spreader and moving this auxiliary mass controls tire swing motion. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. However, measuring systems based on a laser sensor or other means are not veryuseful in real-worldapplications. So, in this paper, animage sensor is used to measure the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method called Vector Code Correlation (VCC), which was devised to consider real environmental conditions. The H $\infty$ based control technique is applied to suppress the swing motion of the crane. Experimental results showed that the proposed measurement and control system based on an image sensor is useful and robust to disturbances.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.6
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• pp.678-686
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• 2011

When one sensor cannot provide information by sensory deficit or loss, the sensory information can be provided by substituting other sensors for the defected sensor. This sensory substation might be influence on the deteriorated motion perception that consists of multi-sensory information such as visual, vestibular and somatosensory information. In this study, to investigate whether the additional sensation by sensory substitution could be integrated into the motion perception, we examined the effect of substituted postural sway sensation on the directional perception of body movement. Deteriorated motion perception by the reduced plantar sensation was enhanced under sensory substitution condition that provided the body sway information as the plantar vibratory stimulus. These results imply that the additional sensation might be integrated into and improve the motion perception.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1365-1370
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• 2004

In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and its maintenance is easy. However, it gives almost the same performance. Various observers for estimating the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of the rail-mounted quayside crane is constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the pilot crane constructed. Experimental results are provided.