• Journal of Navigation and Port Research
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• v.35 no.2
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• pp.167-172
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• 2011

The motivation of this study is the recent advancement of the Straddle Carrier (S/C). Previously Straddle Carrier (S/C) system was used focusing on container lift on/off due to its lower driving speed than that of (Y/T). Shuttle Carrier is evaluated as an upgraded Straddle Carrier. Recently, however, the driving speed of (S/C) has been improved to the level of Yard Tractor and Trailer systems (Y/T), which is 30Km per hour which makes (S/C) qualified as terminal in-yard transportation equipment. This paper, therefore, aims to evaluate three types of terminal in-yard transportation equipments such as (Y/T), (AGV) and the advanced (S/C) from economic perspective. The results revealed that by observing the total costs of equipment, (S/C) is a cheaper option than (Y/T) over 20 years, and than (AGV) over 6 years.

• Journal of Korean Port Research
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• v.14 no.3
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• pp.291-301
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• 2000

T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.133-138
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• 1997

Belt-conveyer driving systems, which transport coal stored in the yard of a coal-fired fossil power plant to coal silos, experienced severe vibrations. From measurement, it was found that the vibrations showed beating phenomenoa and arose from hydraulic couplings installed between motors and gear boxes. In the present paper, described are results of case studies on vibration troubleshooting for the belt-conveyor driving systems: 1)resonance of the system; 2)field balancing.

• Journal of the Korean Society for Railway
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• v.16 no.2
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• pp.79-84
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• 2013

The definition and classification of shunting, which involves the process of sorting rolling stock into complete train sets inside station yard, are not clearly specified in Korean domestic safety regulations for railway operations. As a result, collisions during shunting occur rather frequently compared with other types of accidents in railway operations. Therefore, new systematic safety principles are proposed in this paper to improve operation safety during shunting. The improvements in safety and efficiency derived from the newly proposed approach are analyzed and verified in field application.

• Journal of Korea Multimedia Society
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• v.13 no.1
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• pp.17-29
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• 2010

A container terminal productivity is maximized by a minimized time for processing containers. So, we have been elevated the container terminal productivity through an improvement of computing system, but there are a limitation because of problems for transportation management and method. A Y/T(Yard Tractor), which is a representative transportation, is able to do only one process, loading or unloading, at one time. So if the Y/T can do loading and unloading step by step at a same time, the processing time would be shortened. In this paper, we proposed an effective operating process of Y/T(Yard Tractor) Multi-Cycle System by applying RTLS(Real Time Location System) to Y/T(Yard Tractor) in order to improve the process of loading and unloading at the container terminal. For this, we described Multi-Cycle System. This system consists of a real time location of Y/T based on RTLS, an indicating of Y/T location in real time with GIS technology, and an algorithm(Dijkstra's algorithm) of the shortest distance. And we used the system in container terminal process and could improve the container terminal productivity. As the result of simulation for the proposed system in this paper, we could verify that 9% of driving distance was reduced compared with the existing rate and 19% of driving distance was reduced compared with the maximum rate. Consequently, we could find out the container performance is maximized.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.451-456
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• 2004

This study was performed to analyze the operation system of transfer crone to improve the reality of yard operation roles in container terminal and present the applicable method of operation rules to apply the operation priority. And we derived the procedure to estimate the maximum number of waiting truck based on the waiting of truck and the occupancy of driving lane in yard, and analyzed the constraint state of space. To solve the space constraint, we provided a multi-job principle to define the space resource and described the solution and sequence diagram for the principle.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.127-130
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• 2009

In this paper, we introduce a Y/T(Yard Tractor) Multi-Cycle System on the basis of RTLS that improves a low efficient loading and unloading. In the proposed approach, we apply the best suited algorithm looking for seeking of the optimum path and the shortest movement distance. In this paper, Our experiment results show that rate of a driving distance is reduced more than 12% compared to the average value, and that is reduced more than 23% compared to the maximum value.

• Journal of Navigation and Port Research
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• v.28 no.8
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• pp.721-726
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• 2004

This study was performed to analyze the operation system of transfer crane to improve the reality of yard operation rules in container terminal and present the applicable method of operation rules to apply the operation priority. And we derived the procedure to estimate the maximum number of waiting truck based on the waiting of truck and the occupancy of driving lane in yard, and analyzed the constraint state of space. To solve the space constraint, we provided a multi-job principle to define the space resource and described the solution and sequence diagram for the principle.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2105-2107
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• 2001

During the operation of crane system in container yard, it is necessary to control the crane trolley position and loop length so that the swing of the hanging container is minimized. Recently an automatic control system with high speed and rapid transportation is required. Therefore, we designed a controller to control the Stack crane system.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.11
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• pp.130-139
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• 2004

The Casing Oscillator is a bore file Equipment for the all-casing process. All-casing process is a method of foundation work in construction yard to oscillate steel Casing in the ground. The existing Casing Oscillator has some problem like not boring horizontally with disturbance and not driving Casing othor angle except horizon. To solve problem, the new structure Casing Oscillator is presented and studied. The performance of Casing Oscillator is improved by kinematics analysis. The Casing Oscillator is similar to the parallel manipulator in structure. So we obtain Inverse kinematics solution of Casing Oscillator easily. But it is difficult to solve forward kinematics of Casing Oscillator. T his paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics using Kinematic Inversion. The closed-form solution contains two different meanings -analytical and real-time. So we reach the goal of practical application and control. Closed-form forward kinematics solution is verified by an inverse kinematics analysis. It shows that the method has a practical value for real -time control and inverse kinematics servo control.