이동식 크레인 사고사망재해 심층분석 연구

신운철,여현욱,권준혁,이관형 대한안전경영과학회 2016 대한안전경영과학회지 Vol.18 No.1

In this study, the current regulations to be adequate in industrial site have to be renew in order to prevent the fatal injuries by mobile cranes. Fatal injury analyses were conducted with several accident cases by the mobile cranes. For each accident, the causes of the injuries were examined and proper safety measures were proposed. This study proposed a revision of the standard guideline as an accident prevention measures through in-depth analysis of fatal accidents. First, fatality rate per 10,000 persons by the mobiles cranes was 0.57 in 2011. Second, the in-depth analysis of the mobile crane accidents showed that the main factors of the accidents were the overturn of mobile crane, the fracture of connection part between mobile crane boom and rope, the breaking of rope and the misunderstanding over the signal between a mobile crane driver and workers around a mobile crane. Third, the order of high defection of connecting parts was bucket bolt, bracket and extension parts. Fourth, since there were several cases of overturn of mobile crane by itself in the in-depth analysis of the mobile crane, the over slop-proof device was proposed as the main alternative in this study. Fifth, the revision of standards of safety factor that shall be more than 10, of connecting parts of mobile crane was proposed.

인간형 로봇의 경로를 추종하는 이동식 크레인

박신우,조현민 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.9

This paper describes the design and control of a mobile crane used for walking experiments conducted on humanoid robots. To prevent humanoid robots from overturning, experiments are conducted while they are connected to a crane. To conduct the walking experiment, a minimum of one operator each is required for controlling the robot and moving the crane. Thus far, an automated mobile crane that can perform the function of a crane operator has not been developed. To obtain high stability and efficiency during the walking experiment, we propose a mobile crane that moves according to the locomotion of humanoid robots. Considering the locomotive property of humanoid robots, the mobile crane was designed to be able to move omnidirectionally, and a control algorithm was developed for the mobile crane to track the position and orientation of the humanoid robot being studied. The performance of the developed mobile crane was evaluated through a walking experiment conducted using a humanoid robot.

이동식 크레인 사망재해의 인지공학적 대안

강현수,박범 대한안전경영과학회 2015 대한안전경영과학회지 Vol.17 No.4

According to the statistics, occupational fatal injuries by mobile cranes were about 12 per year in whole industrial. Mobile cranes are widely used in various parts of industries to improve the efficiency of the work. However considerable number of fatal injuries happen each year during the operation of the machines. In this study, the current regulations to be adequate in industrial site have to be renew in order to prevent the fatal injuries by mobile cranes. Fatal injury analyses were conducted with several accident cases by the mobile cranes. For each accident, the causes of the injuries were examined and proper safety measures were proposed. In this study, the mobile crane showed a high fatality rate in industrial accidents and no detailed cause analysis of fatal accidents was conducted in terms of unsafe acts or conditions. This study proposed a revision of the standard guideline as an accident prevention measures through in-depth analysis of fatal accidents. First, among the mainly five machines caused the accidents, mobile crane was higher for the second showed 0.6% for number of fatalities compared to number of mobil cranes and for the third showed 11% for number of fatalities compared to number of injuries. Second, main cause of cognitive engineering agenda was visibility, responsibility, affordance. As the measures to prevent accidents before starting operation, alternative revision for the fool proof including visibility, responsibility, affordance etc. for the fool proof measures was proposed. Third, alternative revision as cognitive accident prevention for the fail safe measures was proposed.

이동식 크레인 사망재해의 인지공학적 대안

강현수,박범 대한안전경영과학회 2015 대한안전경영과학회지 Vol.17 No.4

According to the statistics, occupational fatal injuries by mobile cranes were about 12 per year in whole industrial. Mobile cranes are widely used in various parts of industries to improve the efficiency of the work. However considerable number of fatal injuries happen each year during the operation of the machines. In this study, the current regulations to be adequate in industrial site have to be renew in order to prevent the fatal injuries by mobile cranes. Fatal injury analyses were conducted with several accident cases by the mobile cranes. For each accident, the causes of the injuries were examined and proper safety measures were proposed. In this study, the mobile crane showed a high fatality rate in industrial accidents and no detailed cause analysis of fatal accidents was conducted in terms of unsafe acts or conditions. This study proposed a revision of the standard guideline as an accident prevention measures through in-depth analysis of fatal accidents. First, among the mainly five machines caused the accidents, mobile crane was higher for the second showed 0.6% for number of fatalities compared to number of mobil cranes and for the third showed 11% for number of fatalities compared to number of injuries. Second, main cause of cognitive engineering agenda was visibility, responsibility, affordance. As the measures to prevent accidents before starting operation, alternative revision for the fool proof including visibility, responsibility, affordance etc. for the fool proof measures was proposed. Third, alternative revision as cognitive accident prevention for the fail safe measures was proposed.

차량크레인 전도 사고의 구조 안정성 평가에 관한 법공학적 연구

김종혁 ( Jong Hyuk Kim ),김의수 ( Eui Soo Kim ) 한국안전학회(구 한국산업안전학회) 2013 한국안전학회지 Vol.28 No.3

Forensic Engineering is the area covering the investigation of products, structures that fail to perform or do not function as intended, causing personal injury or damage to property. To investigate the mobile crane′s overturn accident in terms of the forensic engi-neering, in this study, we identified the accident mobile crane′s position and posture before accident by the analysis of the trace resulted by the contact between the outrigger and the ground, and the accident remodeling has been performed using CATIA modeling program in the basis of the accident mobile crane′s position and posture information. The accident analysis has been performed by comparing this accident remodeling and the crane′s specification, the table of the allowance load about the boom′s length and the working radius. Through these studies, the safety accident that may occur in mobile crane can be minimized by performing specialized and systematic investigation of the accident cause in terms of the forensic engineering.

차량크레인 전도사고 원인 조사에 관한 법공학적 연구

김종혁(Kim, Jong-Hyuk),김의수(Kim, Eui-Soo),서영일(Seo, Young-Il),문병선(Moon, Byung-Sun),고재모(Goh, Jae-mo),박남규(Park, Nam-Kyu) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11

Forensic Engineering is the area covering the investigation of products, structures that fail to perform or do not function as intended, causing personal injury or damage to property. To investigate the mobile crane’s overturn accident in terms of the forensic engineering, in this study, we identified the accident mobile crane’s position and posture before accident by the analysis of the trace resulted by the contact between the outrigger and the ground, and the accident remodeling has been performed in the basis of the accident mobile crane’s position and posture information. The accident analysis has been performed by comparing this accident remodeling and the crane’s specification, the table of the allowance load about the boom’s length and the working radius. Through these studies, the safety accident that may occur in mobile crane can be minimized by performing specialized and systematic investigation of the accident cause in terms of the forensic engineering.

Orientation Control of a Crane’s Spreader

Quang Hieu Ngo,Yonggyun Yu,Eun Ho Kim,In Gwun Jang,Keum-Shik Hong 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10

In this paper, the orientation control (trim, list, and skew control) of the load (container) in the crane located in the mobile harbor (MH) is investigated based on the derived mathematical model of the four-rope crane. A container hooked to a spreader is suspended in air by four ropes. When the container is accelerated by the trolley or is disturbed by winds, it rotates (trim, list, and skew) as well as sways in the vertical plane. When this happens, the accurate positioning of the container becomes difficult because of the rotation even with the swaying under control. This paper proposes a feedback control technique for the orientation control of the container based on the dynamics of the spreader including the container. The adopted control system uses four actuators that vary the lengths of the four ropes, respectively. Experiments are performed with a 1/20 scale MH, in which four snag devices are used, instead of the ball screws as a conventional crane in practice, to vary the rope lengths.

Autonomous Offshore Container Crane System Using a Fuzzy-PD Logic Controller

Ngo Phong Nguyen,Trong Nghia Phan,Quang Hieu Ngo 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10

A Fuzzy-PD control strategy for an offshore container crane is investigated in this study. The offshore crane is used to handle containers between a mega container ship (called the “mother ship”) and a smaller ship (called the “mobile harbor”), which is equipped with container crane. The concept of the mobile harbor is a floating form that has the capability of transferring cargo to the local harbor from a large ship that is anchored in a nearby sea, thereby minimizing the port congestion and also eliminating the need of expanding outwards. The control objective during the loading and unloading process is to keep the payload in the desired region in the presence of ship motions. A new control strategy which is a combination of a Fuzzy controller, PD controller and compensation mechanism, is proposed as well. A Fuzzy controller plays a main role in creating the appropriate voltage, based on the dynamics and knowledge of an experienced designer, for guarantees not only prompt suppression of load swing but also accurate control of container crane position. In addition, a classical PD controller is used to tune the value of state variables into suitable range before becoming the inputs of the fuzzification process. This control scheme guarantees the stability of the closed-loop system. Simulation and experimental results are provided to verify the effectiveness of the proposed control system for offshore container cranes.

Zero Moment Crane안정화 통합제어시스템 개발

김평강,김용훈,신영준,김경수 제어로봇시스템학회 2009 제어로봇시스템학회 각 지부별 자료집 Vol.2009 No.12

Mobile harbor: structural dynamic response of RORI crane to wave-induced rolling excitation

조진래,Ki-Chul Han,Soon-Wook Hwang,Choon-Soo Cho,임오강 국제구조공학회 2012 Structural Engineering and Mechanics, An Int'l Jou Vol.43 No.5

A new concept sea-floating port called mobile harbor has been introduced, in order to resolve the limitation of current above-ground port facilities against the continuous growth of worldwide marine transportation. One of important subjects in the design of a mobile harbor is to secure the dynamic stability against wave-induced excitation, because a relatively large-scale heavy crane system installed at the top of mobile harbor should load/unload containers at sea under the sea state up to level 3. In this context, this paper addresses a two-step sequential analytical-numerical method for analyzing the structural dynamic response of the mobile harbor crane system to the wave-induced rolling excitation. The rigid ship motion of mobile harbor by wave is analytically solved, and the flexible dynamic response of the crane system by the rigid ship motion is analyzed by the finite element method. The hydrodynamic effect between sea water and mobile harbor is reflected by means of the added moment of inertia.