This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.

In line with the trend of global transport volume which has increased rapidly over the years, internal transportation in seaports is always conducted with high frequency. Thus, there is always much potential for traffic jams as well as high transportation costs and emissions. Many efforts have been initiated to streamline the inter-terminal container transport (ITT) through the development of automated vehicles and equipment as well as using private transport facilities to overcome these limitations. The purpose of this paper to develop a framework to design, analyze, and validate the efficiency of a new ITT system in a port area based on the monorail network and automatic vehicles. First, the number of shuttles and loaders was determined depending on the transport demand scenario. Next, a simulation model was applied to evaluate the system performance as well as gain more insight into the working process of the ITT system. Finally, by setting goals for the performance indicators, the results showed that the system was highly efficient with 100% of the containers delivered to their destination on time. Besides, a series of other performance tracking was provided to provide insight into the system's capabilities.

본 연구는 부산항에서 증가하는 타부두 환적 물량에 적합한 운송수단을 선택하기 위하여 중요한 평가요인들을 발굴하고 요인들 간 상대적 중요도를 분석하였다. 이를 위해 문헌조사 및 타부두 환적 종사자들로 구성된 전문가 그룹의 브레인스토밍(Brainstorming)을 통해 평가요인을 선정하여, 5개의 대분류 요인과 15개의 중분류 요인으로 분류하였다. 계층적으로 분류된 평가요인을 선사, 항만공사, 컨테이너 터 미널, 관계 부처 등에 근무하는 종사자를 대상으로 설문 조사를 실시하였으며, 계층분석법(AHP)을 이용하여 요인별 중요도를 산출하였다. 중요도 분석결과, 안전성, 생산성, 투자 효율성, 운영 효율성, 정책 부합성 순으로 검토되었다. 이를 통해 화물 및 터미널 보안 및 사고 예방 방지에 초점을 두며 타부두 환적화물에 적합한 운송수단을 선택시 우선적으로 반영되어야 할 필요성이 밝혔다. 아울러, 기존 문헌 연구 및 전문가 자문을 통하여 도출된 타부두 환적 화물 운송수단의 후보군을 6개로 선정하고, 앞서 분석된 운송수단 평가요인의 중요도를 바탕으로 후보군 들의 우선 순위를 도출하였으며, 모노레일, Autocon 등의 순으로 ITT 운송수단에 적합함을 보였다.

According to the globalization of world economy on distribution and sales, logistics and transportation parts are playing an important role. Especially, they have to decide what is the key factor of route choice model and how to choose the right transport route in multimodal transport system. By considering the key factors in rote choice model for freight forwarders between Mongolia and Korea, this paper propose 4 main factors: Cost, Delivery time, Freight and Logistics service with 13 sub factors. The importance of factors is surveyed base on AHP through interview with freight forwarders. In results, the empirical insights about current status of Mongolian forwarders are provided with different factors between transportation modes. Expecially, the Time factor is a role factor to choose transport route for air transportation forwarders.

국내의 화물 운송량은 꾸준히 증가하고 있으며 이에 따라 내륙지역의 화물운송량 예측에 관한 연구가 활발하게 진행되고 있다. 하 지만 종래의 기종점 자료(O/D Data)는 화물 운송수단의 출발지와 목적지를 조사하여 구축하였으며 이는 화물의 운송 특성을 제대로 반영시 키지 못하는 문제점을 지니고 있다. 화물의 운송은 단순히 출발지에서 목적지로 화물을 운반하는 것이 아니라 화물운송 도중에 운송수단을 변경하거나 화물의 임시 보관이 필요한 경우가 발생하므로 화물운송모형에서는 중간 경유지(물류센터 또는 내륙컨테이너기지)를 포함시켜야 된다. 본 논문에서는 이러한 중간 경유지를 고려한 기종점 자료의 필요성을 인식하였고 물류센터를 고려한 화물운송 경로에 대한 모형을 제 시하고자 한다. 본 연구가 제시하는 화물운송 경로모형은 각 구간별 운송계수를 설정하고 이에 따라 화물량을 예측하는 모형으로서 유전 알 고리즘을 이용하여 모형을 검증하였고 오차의 범위가 ±1.0%이내로써 모형은 타당한 것으로 판단된다.

국제무역지수의 증가로 인한 해상운송 및 항만개발수요의 증가는 국제해사기구(IMO)를 중심으로 선박기인 대기오염, 특히 온실가 스 배출규제의 강화를 초래하였다. 이러한 국제환경규제에 대응하고 선박 및 항만기인 환경오염 저감을 통한 자국민의 후생증진을 위하여 미 국과 유럽을 중심으로 Green Port 정책의 시행이 점점 확대되고 있는 추세이다. 이에 따라 우리나라도 2010년 녹색성장기본법을 재정하고 국 가 Green Port 구축 종합계획을 수립하여 각 항만별 그린포트 구축계획의 수립 및 이행을 촉구하고 있는 실정이다. 따라서 본 연구의 목적은 동북아시아 오일허브 항만을 지향하는 울산항의 지속가능한 친환경 항만운영을 위한 울산항의 Green Port 정책방안의 수립에 있다. 이를 위해 울산항의 친환경 항만정책의 현황 및 문제점을 살펴보고, 해외 해양선진국의 그린포트구축 사례분 석과 선행연구 조사, 전문가 자문을 통하여 울산항 그린포트 구축을 위한 정책대안을 도출하였다. 그리고 도출된 정책대안에 대하여 전 문가 AHP 설문조사 및 분석을 통해 울산항에 도입 가능한 그린포트 구축 정책대안에 대한 우선순위를 도출하였다. 본 연구의 결과, 울 산항의 특성에 맞는 지속적인 그린포트 정책의 시행을 위하여 하드웨어 정책으로 LED 교체와 AMP의 구축, 그리고 소프트웨어 정책으 로 항만환경관리부서의 신설이 최우선 정책대안으로 나타났다.

The field of vehicle routing is currently growing rapidly because of many actual applications in truckload and less than truckload trucking, courier services, door to door services, and many other problems that generally hinder the optimization of transportation costs in a logistics network. The rapidly increasing number of customers in such a network has caused problems such as difficulty in cost optimization in terms of getting a global optimum solution in an acceptable time. Fast algorithms are needed to find sufficient solutions in a limited time that can be used for real time scheduling. In this paper, the nearest L-method (NLNM) is proposed to obtain a vehicle routing solution. String neighbors of different lengths were chosen, tested and compared. The applied de crossing procedure is meant to solve the routes by NLNM by giving a better solution and shorter computation time than that of NLNM with long string neighbors.

In this paper, we deal with an allocation model of vertical type container yard for minimizing the total ATC (Automated Transfer Crane) working time and the equivalence of ATC working load in each block on automated container terminal. Firstly, a layout of automated container terminal yard is shown The characteristic of equipment which work in the terminal and its basic assumption are given Next, an allocation model which concerns with minimizing the total working time and the equivalence of working load is proposed for effectiveness of ATC working in automated container terminal. Also, a weight values on critical function are suggested to adjust the critical values by evaluating the obtained allocation plan. For ATC allocation algorithm, we suggest a simple repeat algorithm for on-line terminal operation.

In this paper, a fault detection method for operator failures using the observation technique is proposed. The suggested algorithm is extended using the conventional sensor/actuator fault detection method. First, it is assumed that operator failure affects human work operations, as it is an external input signal. With this assumption, a human work model with operator failure is suggested. Second, an unknown input observer with proportional and integral gains is introduced. The characteristic of this observer of estimating an external signal without an exact input is shown, and the conditions for the detection of an operator failure are proposed. Finally, by simulating the container crane operations, it is verified that the observer can accurately detect an operator failure and estimate its magnitude from the given internal signal.

In this paper, an INS compensation algorithm is proposed using the accelerometer from IMU. First, we denote the basic INS algorithm and show that how to compensate the position error when low cost IMU is used. Second, considering the ship's characteristic and ocean environments, we consider with a drift as a periodic external environment change which is affected with exact position. To develop the compensation algorithm, we use a repetitive method to reduce the external environment changes. Lastly, we verify the proposed algorithm through the experiments, where the acceleration sensor is used to acquire real data.