The report suggests a short overview of the status of the project to June 2008. The project itself is focused on developing kinematic and dynamic models for a crane commonly used in the forestry and mining applications. Based on these models we plan motions of a crane and suggest feedback controllers for their stabilization. Short description of the system, challenges to control the crane, the ...

We present a general technique for extending Java-like languages with dynamic overloading, where method selection depends on the dynamic type of the parameter, instead of just the receiver. To this aim we use a core Java-language enriched with encapsulated multi-methods and dynamic overloading. Then we define an algorithm which translates programs to standard Java code using only basic mechanis...

With the continuous development of modern industry in our country, use cranes is becoming more and common, but unsafe incidents occur from time to time, which makes risk assessment important. Crane has become an important part crane management. In order further promote management, this paper tests feasibility effectiveness method through study fuzzy safety evaluation direct application portal c...

We consider the optimal control of a crane-trolley-load model, where the crane beam is subject to the PDE of static linear elasticity and the motion of the load is described by the dynamics of a pendulum that is fixed to a trolley which moves along the crane beam. The resulting problem serves as a prototype for optimal control of fully coupled partial and ordinary differential equations. This t...

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...