This paper investigates the design of composite nonlinear feedback (CNF) control law for an underactuated gantry crane system to achieve positioning and anti-swing control. First, the dynamic model of a nonlinear underactuated gantry crane system is established by using the Euler-Lagrange modeling method. Then, the CNF control law is designed for the system to improve the anti-swing performance...

We focus on the integrated seaside operations in container terminals, namely the integration of berth allocation, quay crane assignment and quay crane scheduling problems. We first develope a mixed-integer linear programming formulation. Then, we propose an efficient cutting plane algorithm based on a decomposition scheme. Our approach deals with berthing positions of the vessels and their assi...

The efficiency of container handling has got great improvement with the usage of the 40ft quay crane and the twin 40 ft yard crane. Reasonable bay planning strategies is necessary to reach the high handing efficiency by the twin 40 ft yard crane. This paper studies both bay planning and row planning for yard bay allocation. The models of bay planning and row planning are created, and the discre...

Loads and working conditions of the trapezoidal cross-section of 36 m span crane beam can be analyzed by finite element method. Firstly, analysis of the stress and deformation is completed under the dangerous condition of crane beam based on the ANSYS software; secondly, find out the stress concentration and fatigue crack sensitive area of the bearing; finally, capture the position of fatigue c...

Crane and Frenkel proposed a state sum invariant for triangulated 4-manifolds. They defined and used new algebraic structures called Hopf categories for their construction. Crane and Yetter studied Hopf categories and gave some examples using group cocycles that are associated to the Drinfeld double of a finite group. In this paper we define a state sum invariant of triangulated 4-manifolds usi...

A gain-scheduled trajectory control is exemplary presented for two of six available axes of an overhead crane that allows for positioning and inclining the crane load according to specified trajectories. Besides its tracking capabilities, the proposed control provides an active oscillation damping. The overall control structure consists of independent axis controllers, which are adapted to meas...

Abstract: Cranes are used to move heavy cargo. While they are in general controlled by a human operator, automated systems are able to obtain more precise control. In this paper, we design a Takagi-Sugeno (TS) fuzzy controller for the crane. For this, first a TS fuzzy model of the crane is developed, and a TS observer is used to estimate the unmeasurable states. The observer is tested in simula...

The present paper focuses on the Lagrange mechanics-based description of small oscillations of a spherical pendulum with a uniformly rotating suspension center. The analytical solution of the natural frequencies' problem has been derived for the case of uniform rotation of a crane boom. The payload paths have been found in the inertial reference frame fixed on earth and in the noninertial refer...

A novel approach to collision avoidance concerning unknown dynamic obstacles is presented for a material flow system using an overhead travelling crane. The task involves the tracking of a desired trajectory derived from a path planning module based on a global map containing all static obstacles. The crane has been upgraded with three ultrasonic sensors which detect dynamic obstacles on the de...

The paper talk over the proposal of use a combined vision system architecture for solved well known issue occurring in material handling devices (MHDs) exploitation, especially in the crane devices. The described in the presented paper stereovision system for work space mapping and non-contact sensor type for rope angle swinging measure were a part of solutions enabling a full autonomous naviga...