Seismic Damage for Quayside Crane in the case of Hanshin(Japan) Earthquake The earthquake that struck Hyogo Prefecture, Japan in 1995 caused breakage and derailment in 52 of 55 quayside cranes located in Kobe Port, including the total collapse of one crane. A report by the Japan Cargo Handling Mechanization Association indicated two major reasons for the breakage and derailment of these quayside cranes. First, displacement of the caissons forming the quay structures caused widened crane rail spans. Second, crane legs were lifted by the effects of horizontal seismic forces, and then fell to the ground. Buckling of Legs Derailing 22

Purpose ・ Principle Purpose Principle ■ Reduce the stress to the crane legs → No need to strengthen the crane body Restrain the locking motion Prevention of derailing Reduce the reaction force to the ground, container yard Maintain the function and ensure the safety to crane after earthquake Principle The purpose of the seismic isolation system is to reduce seismic stress on the crane so there is no need to strengthen the crane legs, prevent locking to avoid derailing, reduce reaction force to the ground, and ensure that crane functions and safety are maintained immediately after an earthquake.   The seismic isolation system makes natural vibration period of quayside crane is much longer than conventional crane, so that seismic acceleration is much smaller , and seismic force applied to the crane can be dramatically reduced. Details we can show the demonstration video. Natural vibration period of QC is much longer than conventional one ↓ Seismic acceleration is much smaller in this frequency band ↓ Response to seismic applied worked to the crane can be dramatically reduced 23

Seismic Isolation System 　　　　　VTR 24

Automated RTG Next, I introduce the automated rubber tired transfer crane. 25

Automated RTG by Mitsubishi Mitsubishi Heavy Industries, Ltd. offers the world first automated RTG. Automated Gantry travel / positioning Automated Container picking / stacking Remote operation from Control Room 　　→ Multiple RTGs operation possible by one operator ! Magic Eye achieves automated picking / stacking Image sensors installed at corners of spreader detect the target container edge to find accurate container position directly. Gantry Travel & Positioning Gantry travels on magnetic lane line within ±2" auto-steering with magnetic sensors. Gantry positioning is achieved on Bay mark with positioning sensor. The most prominent feature of the Mitsubishi automated RTG is that a single operator can control multiple cranes　from the control room. This is made possible by automated stacking with Magic Eye, an automated steering travel system, Stack profile sensors system and a wireless remote operation system. Remote operation Remote operation from control room can be achieved with help of these automated technology. An operator can operate Multiple RTGs by monitoring CRT. Stack profile sensors achieve Fast / Safe / Reliable Operation Stack profile sensors installed on the girder detect the stack profile. The optimized path control for Hoisting / Lowering and Trolley Travel is achieved with the measured stack profile. 26

＜Automated Operation Zone＞ Automated RTG System ＜Automated Operation Zone＞ Chassis with driver　 　Automated guided vehicle Automated Operation Automated Operation Manual Operation This drawing is indicated automated zone. In case of using chassis, stacking zone can be automated , and zone above chassis is done by manual. In case of using automated guided vehicle , we can do fully automated operation. 27

Automated RTG System 1. Magic Eye （Automated picking and stacking） Girder accelerometer 　Camera for monitoring under trolley (Sway sensor) Magnetic sensor for auto steering Guide line for auto steering Magic Eye Stack profile sensor 1. Magic Eye （Automated picking and stacking） －　Relative position sensing device based on Image processing － Fast positioning and landing of the container to the target slot 2. Auto steering system －　Gantry travel 3. Stack Profile System －　Safety operation for preventing to interfere stacked container This drawing is indicated the sensor location of automated RTG system. This system is applied magic eye,auto steering system and stack profile system. The function of Magic eye is relative sensing device based on image processing and fast positioning and landing control to the target slot. I introduce each these system. 28

1. Magic Eye Sensing Device Magic Eye First, magic eye system. Magic eye sensors are installed at the corner of the spreader. These sensors can detecte lower container position for stacking or picking container Automated stacking systems that use the Magic Eye can detect swaying in the spreader, calculate the amount of motion, and adjust the lowering speed for stacking onto other containers.   This system achieves a stacking control precision of +-25 mm. Magic Eye Detection of lower container position by Image processing technique. 29

Magic Eye View during operation Target container Lifted container This is Magic Eye view during operation for monitoring 30