• 제목/요약/키워드: sway sensor

검색결과 32건 처리시간 0.033초

자동화 컨테이너 터미널용 Anti-Sway 시스템 (Anti-sway System for Automatic Container Terminal)

  • 박경택;박찬훈;김두형
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2002년도 춘계학술대회 논문집
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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.

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자동화 크레인을 위한 흔들림 방지 시스템 (Anti-Sway System for Automated Crane)

  • 박찬훈;김두형;박경택
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1997년도 추계학술대회 논문집
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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.

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IoT를 활용한 흔들림 방지 버팀대의 내진설계에 관한 연구 (A Study on the Seismic Resistance Design of Sway Brace Device using Internet of Things)

  • 탁성인;유봉근;손봉세
    • 한국화재소방학회논문지
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    • 제31권1호
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    • pp.58-62
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    • 2017
  • 국내에서도 내진설계의 필요성이 점차 증대되고 있다. 그 중에서도 비구조요소인 소화배관의 흔들림 방지 버팀대에 관한 연구가 계속되고 있다. 이에 본 연구에서는 흔들림 방지 버팀대의 하중 시험을 통하여 유효한 범위를 측정하였다. 그 결과, 하중 0에서부터 18.5 kN까지 설계안전 범위로 측정되었으며 최대 29.4 kN에서도 흔들림 방지 버팀대의 구조 및 성능에 이상 없이 정상 작동하였다. 또한 사물인터넷의 환경을 이용하여 센서노드로부터 데이터를 전송받아 유효 하중범위 안에서 추출과 예측단계를 거쳐 재난정보를 수신케 하는 모니터링 시스템의 모듈을 구성하였다.

보조로프를 이용한 야드크레인의 안티스웨이 시스템 (The Anti-Sway System for Yard Crane Using Auxiliary Ropes)

  • 박찬훈;박경택;김두형
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2002년도 추계학술대회 논문집
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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.

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레이저 빔 궤적을 이용한 강인한 랜딩 시스템 (Automatic Landing System using a Trajectory of Laser Beam)

  • 황진아;남기군;이장명
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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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.

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호흡근훈련 유무에 따른 안정화 운동이 건강한 성인의 호흡 기능과 자세 동요에 미치는 영향 (Effects of Stabilization Exercise with and without Respiratory Muscle Training on Respiratory Function and Postural Sway in Healthy Adults)

  • 서혜리;안덕현;김미현;고민주;오재섭
    • 대한통합의학회지
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    • 제11권3호
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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.

3D Spreader Position Information by the CCD Cameras and the Laser Distance Measuring Unit for ATC

  • Bae, Dong-Suk;Lee, Jung-Jae;Lee, Bong-Ki;Lee, Jang-Myung
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2004년도 ICCAS
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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.

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실용화를 고려한 Anti-Sway 시스템 구축: 카메라를 이용한 크레인 운동 계측 및 제어 (A Development of Anti-sway System for Real Application: Measurement and Control of Crane Motions Using Camera)

  • 카와이 히데키;김영복;최용운;양주호
    • 한국해양공학회지
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    • 제22권4호
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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.

추가된 체성 감각에 의한 선형 운동 지각 변화 (Linear Motion Perception under Additional Somatosensation)

  • 이용우;박수경
    • 한국정밀공학회지
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    • 제28권6호
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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.

Anti-Sway Control of Container Cranes;Inclinometer, Observers, and State Feedback

  • Kim, Yong-Seok;Hong, Keum-Shik;Sul, Seung-Ki
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2004년도 ICCAS
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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.

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