Most of the operational problems in container terminals are strongly interconnected. In this paper, we study the integrated berth allocation and quay crane assignment problem in seaport container terminals. We will extend the current stateof-the-art by proposing novel set partitioning models. To improve the performance of the set partitioning formulations, a number of variable reduction techniq...

This paper presents investigations into the development of H∞ controller with pole clustering based on LMI techniques to control the payload positioning of INTECO 3D crane system with very minimal swing. The linear model of INTECO 3D crane system is obtained using the system identification process. Using LMI approach, the regional pole placement known as LMI region combined with design objectiv...

Motion-induced vibration can be greatly reduced by properly shaping the reference command. Input shaping is one type of reference shaping method that is based largely on linear superposition. In this paper we document the impact of nonlinear crane dynamics on the effectiveness of input shaping. As typical bridge cranes are driven using Cartesian motions, they behave nearly linearly for lowand m...

In this paper, we address the Stacking Problem. Its objective is to determine the sequence of movements carried out by a stacking crane to store and retrieve a set of homogeneous blocks in a two-dimensional storage during a well-defined planning horizon in such a way that the number of relocation movements is minimized. We propose a heuristic algorithm that determines the target stack of each i...

Oflshore loading and unloadhg of cargo vessels and on board cargo relocation during conditions of Sea State 3 or greater have been found to be difficult with existing crane technology due to oscillation of the payload. A new type of crane which uses four actuated cables to control the motion of the payload is presented. The closed chain configuration will intuitively provide more stability with...

The quay crane scheduling problem consists of determining a sequence of unloading and loading movements for cranes assigned to a vessel, in order to minimize the vessel completion time as well as the crane idle times. Idle times originate from interferences between cranes since these roll on the same rails and a minimum safety distance must be maintained between them. The productivity of contai...

• Non-linear dynamics modelling description for simulating the behaviour of forestry cranes 2014 • Modeling an industrial flotation process: A case study at the mining company Boliden AB 2012 • Modeling dynamics of an electro-hydraulic servo actuated manipulator: A case study of a forestry forwarder crane 2012 • Underactuated mechanical systems: Contributions to trajectory planning, analysis, a...

3188 Article History: IJMEC DOI: 649123/10.225110 Received Date: Nov. 08, 2016 Accepted Date: Dec. 24, 2016 Available Online: Jan. 03, 2017 Mathematical Modeling and Performance Comparison of Overhead Cranes Using Soft-Computing Techniques Ashwani Kharola1 and Dr Pravin Patil2 1Senior Research Fellow (SRF), Institute of Technology Management (ITM), 1Defence Research & Development Organisation (...

Methods and apparatuses for reducing the oscillatory motion of rotary crane payloads during operator-commanded or computer-controlled maneuvers. An Input-shaping filter receives input signals from multiple operator input devices and converts them into output signals readable by the crane controller to dampen the payload tangential and radial sway associated with rotation of the jib. The input s...

Shipping and stevedoring industry is going to witness a massive increase in the amount of containers to be handled while land constraints become more critical. Offshore transfer operations hence offer a preferable solution to deal with the surge in cargos rather than to expand the port outwards. Recently, there has been increasing research interests on offshore crane automation. Suspended cargo...