Jin-Ho Suh

Anti-sway position control of an automated transfer crane based on neural network predictive PID controller

In this paper, we develop an 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 simulation and experimental results show that the proposed control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller As the results in this paper, 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

A Study on the Tracking Control of a Transfer Crane : Observer Design and Experimental Study

The most important thing in the container terminal 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. In this paper, the system modelling and a tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the informations of the states. The experiment results show the usefulness of the designed control system.

Position accuracy improvement of linear motor container transfer system using DR-FNNs

We introduced a multi-step prediction control of linear motor-based container transport system for high precision using dynamically constructed recurrent fuzzy neural networks (DR-FNN). Linear motor-based container transport system (LMCTS) is the horizontal transfer system for yard automation, which is proposed to take the place of automated guided vehicle in the maritime container terminal. LMCTS is the system that can suddenly changed its model by loading and unloading container. The proposed control system is using two DR-FNN for multi-step prediction. Consequently, the system has the ability to adapt for a huge rolling friction, cogging force ripple, and sudden changes by loading and unloading.

High precision control for linear motor-based container transfer system with cogging force and friction

In this paper, we will introduce concerning a control strategy that is the multi-step prediction control of linear motor-based container transport system for high precision using dynamically-constructed recurrent fuzzy neural networks (DR-FNNs). Linear motor-based container transport system (LMCTS) is horizontal transfer system for the yard automation, which has been proposed to take the place of automated guided vehicle in the maritime container terminal. LMCTS is considered as that the system is changed its model suddenly and variously by loading and unloading container. The proposed control system is used two DR-FNNs for multi-step prediction. Consequently, the system has an ability to adapt for a huge rolling friction, cogging force, force ripple, and sudden changes of itself by loading and unloading.

Position Control of Linear Motor-based Container Transfer System using DR-FNNs

In the maritime container terminal. LMCTS (Linear Motor-based Container Transfer System) is horizontal transfer system for the yard automation, which In., been proposed to take the place of AGV (Automated Guided Vehicle). The system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that is consists of stator modules on the rail and shuttle car (mover). Because of large variant of mover`s weight by loading and unloading containers, the difference of each characteristic of stator modules, and a stator module`s trouble etc. LMCTS is considered as that the system is changed its model suddenly and variously. In this paper, we will introduce the softcomputing method of a multi-step prediction control for LMCTS using DR- FNN (Dynamically-constructed Recurrent Fuzzy Neural Network). The proposed control system is used two networks for multi step prediction Consequently, the system has an ability to adapt for external disturbance, detent force, force ripple, and sudden changes by loading and unloading the container.

Development of an anti-seasickness bed for improving boarding sensitivity

In ship operation, the consequence of roll and pitching motion can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization and trimming control system design have been performed and good results have been achieved where the stabilizing fins, tanks, rudders and flaps are used by Y. Koike et. al, (1994). However the ultimate objective of such approach must be focused on improving the boarding sensitivity. But there exist many weak points, for examples, increasing of navigation resistance, ship control performance degradation and increasing of system complexity. And, the achieved control performance could not give us enough comfortable boarding sense. The residual rolling and pitching motion are main drawbacks. To get rid of these disadvantages, the main hull control systems design approach by W. J. Hsueh (1998) has been considered using semiactive absorber. In this system, dampers, spring, dynamic dampers and control system with sensors are incorporated. In our system considered in this study, just two motors and control system with sensors are used for the anti-seasickness bed. In other word, the control system can be installed on each bed. So, we can control every bed on the specified control objective respectively. Above all, the good advantages of this system are the facts followed from simple idea and usefulness. Of course the structural modifications can be easily performed if we need such that some useful performance would be achieved. Based on considerable experimental conditions like sea state etc, we design control system and verify the usefulness of developed system from the experimental study

3D Simulator System of Performance Valuation for Next Generation Port Automation

Due to the fast growing rate of the global container trade, every major port is under the pressure of meeting the projected capacity demand. As a result, alternative solutions have been sought for improving capacity and meeting the growing demand for container storage area and terminal capacity. Moreover, material handling process re-engineering is now a critical issue for logistics and supply chain managers of airline, shipping lines, terminal and warehousing enterprises around the world. Therefore, the purpose of this paper is to develop the 3D simulator for executing performance valuation of port transportation systems. The developed 3D simulator system is to measure the effectiveness of the proposed total system and compare it with existing practices. The performance analysis variables are also defined for these comparisons