In this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. It provides both robust tracking and load swing suppression. Inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. The crane nonlinearities are then tr...

Nowadays, there is much attention for planning of container terminals in the global trade centers. The high cost of quay cranes motivates both scholars and industrial practitioners especially in the last decade to develop novel optimization models to address this dilemma. This study proposes a coordinated optimization model to cover both Quay Crane Scheduling Problem (QCSP) and Quay Crane Assig...

Haskell has a sophisticated mechanism for overloading identifiers with multiple definitions at distinct types. Object-oriented programming has a similar notion of overriding and overloading for methods names. Unfortunately, it is not possible to encode object-oriented overloading directly using Haskell overloading. This deficiency becomes particularly tiresome when Haskell programs wish to call...

Abstract: In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller...

The acceleration of the speed of the quay crane for containers has raised a higher demand to the dynamic simulation system which is the key part of the simulator in the coast container crane. So it is very necessary to do this research on it. This essay, aimed at the seat motion system of training simulator in the coast container crane, lays a study on the key points in the design of the propri...

We suggest a modification of the Barrett-Crane spin foam model of 4-dimensional Lorentzian general relativity motivated by the canonical quantization. The starting point is Lorentz covariant loop quantum gravity. Its kinematical Hilbert space is found as a space of the so-called projected spin networks. These spin networks are identified with the boundary states of a spin foam model and provide...

At rail-road transshipment yards, gantry cranes move containers from freight trains to trucks and vice versa. They constitute important entities in today's intermodal transportation systems. Real-world yards are often partitioned into several disjunct crane areas, so that crane interferences during container transshipment are avoided. In practice, the lengths of such crane areas are typically d...

This paper summarizes the most important advances of the used crane control technology in perspective of automatic operation of container cranes. Faster and more productive container cranes demands highly efficient yard system. Storage capacity is the limitation for most terminals today; automatic operation offers optimum stacking density and peak capacity equivalent for continuous manning of e...

In real-time systems, tasks have deadlines to be met despite the presence of faults. Primary-Backup (PB) scheme is one of the most important schemes that has been employed for fault-tolerant scheduling of real-time tasks, wherein each task has two versions and the versions are scheduled on two different processors with time exclusion. There have been techniques proposed for improving schedulabi...

Hypertrophic stimuli, such as mechanical stress and overloading, induce stress response, which is mediated by heat shock transcription factor 1 (HSF1), and up-regulate heat shock proteins (HSPs) in mammalian skeletal muscles. Therefore, HSF1-associated stress response may play a key role in loading-associated skeletal muscle hypertrophy. The purpose of this study was to investigate the effects ...