In this paper, a study on the role of force feedback for teleoperation of industrial overhead crane is presented. Teleoperation of industrial crane was described and analyzed. We proposed several types of force feedback signals which can reduce sway motion in industrial crane. First, force feedback signal was selected and designed based on dynamic model of the system. Then, we simplified force ...

A crane is the type of machine mainly used for handling heavy loads in different industry branches: metallurgy, paper and cement industry. By the construction, cranes are divided into the overhead and gantry cranes. An overhead crane, also known as a bridge crane, is a type of crane where the hook and line mechanism runs along a horizontal beam that itself travels on the two widely separated ra...

Standardisation of crane design procedures enables designers to develop their own crane automation software for crane design applications. Since main effort and time for implementation of the crane design procedures are generally spent for interpretation and explanation of the available crane design standards, a computer-automated access to the available standards may improve speed, reliability...

The aim of this paper is to explore the possibility of using rhythm metrics on the traditional units of speech rhythm (the syllable and the foot), instead of applying them to consonantal and vocalic intervals. Despite [14] had already proven that the standard deviation of syllables and feet did not provide a satisfactory representation of the traditional rhythm classes, some recent studies obta...

of a Suspended Load with a Robotic Crane Jae Y. Lew Ahmed Khalil Dept. of Mechanical Engineering Ohio University Athens, OH 45701 USA controlled velocity source which may not hold under a heavy load. In addition, it often requires an exact model of the overall system. This paper presents a feedback control algorithm for a robotic crane carrying a suspended load. The proposed controller suppress...

For phase transitions in disordered systems, an exact theorem provides a bound on the finite size correlation length exponent: nFS $ 2yd. It is believed that the intrinsic n satisfies the same bound. We argue that the standard averaging introduces a noise and a new diverging length scale. For n # 2yd self-averaging breaks down, disconnecting n from nFS, and the bound applies only for the latter...

This paper is concerned with yard management in transshipment hubs, where a consignment strategy is often used to reduce reshuffling and vessel turnaround time. This strategy groups unloaded containers according to their destination vessels. In this strategy, yard template determines the assignment of the spaces (subblocks) in the yard to the vessels. This paper studies how to make a robust yar...

Since the premium prices of yard trucks and significantly daily volatility of containers serving demand, it is an uneconomic method to keep a full team of fleet to cover the entire service. Some of the transportation services are outsourced to other external companies. The strategy of outsourcing yard trucks is a decision making problem that container terminals are currently facing. Yard truck ...

Steel industry uses ladle crane as a vital material handling equipment. Design and procurement of the ladle crane is not up to the mark. Type of load, height to hoist, angle of tilt, space etc ascertains the crane specification. Mathematical analysis, taking all these factors has become an important research area. Earlier researches on ladle crane dynamics are not with so details analysis and p...

This paper proposes an ant colony optimization algorithm to assist railroad yard operational planning staff in their daily tasks. The proposed algorithm tries to minimize a multi-objective function that considers both fixed and variable transportation costs involved in moving railroad cars within the railroad yard area. This is accomplished by searching the best switch engine schedule for a giv...