A control strategy is presented for a 3-dimensional overhead crane. Using the differential flatness of the crane and a parameterization method, we calculate the optimal trajectory of the payload that results in minimum transfer time when there exist obstacles in the direct moving path. A learning algorithm is then used to generate the desired feedforward input signal that can drive the system o...

Two control problems related to a particular underactuated mechanical system, the reduced size US Navy crane, are addressed. The open-loop motion planning problem is solved by showing that the model of the crane is differentially flat with a flat output comprising the coordinates of the load as its first components. The closed-loop global asymptotic stabilization of equilibria is achieved using...

We give a short review of the spin foam models of quantum gravity , with an emphasis on the Barret-Crane model. After explaining the shortcomings of the Barret-Crane model, we briefly discuss two new approaches , one based on the 3d spin foam state sum invariants for the embedded spin networks, and the other based on representing the string scattering amplitudes as 2d spin foam state sum invari...

This paper presents a method to control the sway of a rotary crane by using a linear transfer transformation (LTT) model. The LTT model is built and its parameters are geometrically derived. Optimal control of a rotary crane is presented using an optimization method of Fletcher-Reeves so that the load has no sway at the end point of the transfer. The effectiveness of the proposed control method...

Eye-tracking applications are used in large variety of fields of research: neuro-science, psychology, human-computer interfaces, marketing and advertising, and computer science. The commonly known techniques are: contact lens method (Robinson, 1963), electro-oculography (Kaufman et al., 1993), limbus tracking with photo-resistors (Reulen et al., 1988; Stark et al., 1962), corneal reflection (Ei...

The paper is focusing on Human Machine-Interface implementation in designing crane control based on fuzzy logic algorithm. The Human Machine-Interface application was created for visualization, monitoring and managing the transportation process realized by the crane. Control systems based on fuzzy controllers with Mamdani and Sugeno inference systems were elaborated and built using prototyping ...

In this paper, we describe the construction and control of a gantry crane that is used in courses at the Department of Automatic Control, Lund university. Two different models of the crane are developed. A thorough example of path following, including on-line time-varying input/state-transformations and LQG control, used in a laboratory exercise is shown together with experimental results. Time...

This paper elaborates the different operations research methods used to solve container terminal operational decisions including terminal design, berth allocation, quay crane assignment, quay crane scheduling, container storage space allocation, container location assignment, retrieval, and premarshalling, as well as resource scheduling and terminal logistics in general. Solution methods includ...

In this work, we examine port crane scheduling with spatial and separation constraints. Although common to most port operations, these constraints have not been previously studied. We assume that cranes cannot cross, there is a minimum distance between cranes and jobs cannot be done simultaneously. The objective is to find a crane-to-job matching which maximizes throughput under these constrain...

Engineer for John Crane Inc., in Morton Grove, Illinois. His responsibilities include recommending, designing, and troubleshooting sealing systems for the Midwest states. He spent 10 years as a Senior Design and Applications Engineer before becoming a Regional Engineer. Before John Crane, Mr. Kozlowski was a Design and Test Engineer for Aetna Bearing Company, in Chicago, where he was involved w...