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인공 면역알고리즘을 이용한 크레인의 자율주행 제어에 관한 연구
이권순(K. S. Lee),이영진(Y. J. Lee) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-
??In this paper, we introduced an optimal control method using artificial immune algorithm for a stacking crane system. During the operation of crane system in port yard, the objective is to transport the load to a goal position as quickly as possible without anti-sway. The container crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. Therefore, we developed an optimal controller which has to control the crane system with disturbances. In this paper, 2-degree of freedom(OOF) PID controller is used to control stacking crane to reduce anti-sway and traveling time. The artificial humoral immune algorithm is used to tune the controller parameters. The computer simulations show that the proposed method has better performances than the other method. As the result, the application of proposed controller is analyzed to have robustness about disturbance which is wind in the port yard. This control structure can be also applied as on-line regulator of control system.
이권순(K. S. Lee),이영진(Y. J. Lee),한승훈(S. H. Han) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In this paper, we introduced an optimal control method using artificial immune algorithm for a stacking crane system. During the operation of crane system in port yard, the objective is to transport the load to a goal position as quickly as possible without anti-sway. The container crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. Therefore, we developed an optimal controller which has to control the crane system with disturbances. In this paper, 2-degree of freedom(OOF) Pill controller is used to control stacking crane to reduce anti-sway and traveling time. The artificial humoral immune algorithm is used to tune the controller parameters. The computer simulations show that the proposed method has better performances than the other method. As the result, the application of proposed controller is analyzed to have robustness about disturbance which is wind in the port yard. This control structure can be also applied as on-line regulator of control system.
Inner Beam의 두께비 및 높이비가 LMTT용 Shuttle Car의 Frame 강도 및 강성에 미치는 영향
이권순(K. S. Lee),한근조(G. J. Han),김태형(T. H. Kim),심재준(J. J. Shim),한동섭(D. S. Han) 한국항해항만학회 2003 한국항해항만학회 학술대회논문집 Vol.3 No.-
LMTT(Linear Motor-based Transfer Technology)는 항만 자동화를 위한 컨테이너 터미널용 수평 이송 장치이며, rail과 shuttle car(mover)에 부착된 stator module로 구성된 PMLSM(Permanent Magnetic Linear Synchronous Motor) 방식을 채택하고 있다. 본 논문은 inner beam과 outer beam의 높이비가 LMTT용 shuttle car의 frame 강도 및 강성에 미치는 영향을 살펴보았다. 설계변수는 inner beam의 단면형상 및 높이비로 설정하였으며, 유한요소해석을 통하여 설계변수가 frame의 강도 및 강성에 미치는 영향을 살펴보았다. LMTT(Linear Motor-based Transfer Technology) is horizontal transfer system in the maritime container terminal for the port automation. The system is modeled PMLSM(Permanent Magnetic Linear Synchronous Motor) that is consists of stator modules on the rail and shuttle car(mover). This paper investigates the effect of hight ratio of inner and outer beam on strength and stiffness of frame in shuttle car for LMTT. The results of this investigation are obtained from detailed finite element analysis for various parameters, such as section shape, height ratio of inner beam.
이권순(K. S. Lee),서진호(J. H. Suh),서정현(J. H. Seo) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In this paper, we propose an adaptive mechanism based on humoral immune algorithm and neural network identifier technique. It is also applied for an autonomous guided vehicle (AGV) system. When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged due to the abrupt change of PID parameters since the parameters are almost adjusted randomly. To slove this problem, we use the neural network identifier technique for modeling the plant humoral immune algorithm (HIA) which performs the parameter tuning of the considered model, respectively. Finally, the experimental results for control of steering and speed of AGV system illustrate the validity of the proposed control scheme. Also, these results for the proposed method show that it has better performance than other conventional controller design method such as PID controller.
윤경식(K.S. Yun),이동훈(D.H. Lee),강진구(J.G. Kang),이권순(K.S. Lee),이장명(J.M. Lee) 한국항해항만학회 2000 한국항해항만학회 학술대회논문집 Vol.1 No.2
In this study, as the preliminary step for developing an unmanned vehicle to deliver a container-box, we designed and implemented Automatic Guided Vehicle(AGV) Simulator for the purpose of Port Facilities Automation. It is preferable to research the intelligent AGV for delivery all day long. For complementing AGV simulator driving, we used multiple-sensor systems with vision, ultrasonic, IR and adapted the high-speed wireless LAN that satisfies the IEEE 802.11 Standard for bi-directional communication between main processor in AGV and Host computer. Here, we mounted on bottom frame in AGV Pentium-Ⅲ processor, which combine and compute the information from each sensor system and control the AGV driving, and used the 80C196KC micro-controller to control the actuating and steering motors.
Inner Beam의 두께비 및 높이비가 LMTT용 Shuttle Car의 Frame 강도 및 강성에 미치는 영향
한동섭(GD. S. Han),한근조(G. J. Han),이권순(K. S. lee),심재준(J. J. Shim),김태형(T. H. Kim) 한국항해항만학회 2004 한국항해항만학회지 Vol.28 No.3
LMTT(Linear Motor-based Transfer Technology)는 항만 자동화를 위한 컨테이너 터미널용 수평 이송 장치이며, rail과 shuttle car(mover)에 부착된 stator module로 구성된 PMLSM(Permanent Magnetic Linear Synchronous Motor)에 의해 구동된다. 본 논문은 inner beam과 outer beam의 높이비가 LMTT용 shuttle car의 frame 강도 및 강성에 미치는 영향을 살펴보았다. 설계변수는 inner beam의 단면형상 및 높이비로 설정하였으며, 유한요소해석을 통하여 설계변수가 frame의 강도 및 강성에 미치는 영향을 살펴보았다. The final goal of this research is to establish the relative dangerousness D∕B for factors on seakeeping performance. This D∕B is essential to develope the seakeeping performance evaluation system built-on-ship. The system is composed of the apparatus for measuring a vertical acceleration to be generated by the ship’s motions, computer for calculating the synthetic seakeeping performance index and monitor for displaying the evaluating diagram of navigational safety of ship. In this paper, a methodology on the establishment of the relative dangerousness D∕B for factors on seakeeping performance is presented by a numerical simulations, playing an important role on the algorithm of the program for calculating the synthetic seakeeping performance index. Finally, It is investigated whether the relative dangerousness D∕B can be realized an accurate values according to the loading conditions, weather conditions, wave directions and present ship’s speed of a model ship.