In this paper, the effect of wind load on port portal crane is simulated by experimental method, and anti-wind anti-skid performance tested. This experiment an important method to study action mode force skid resistance crane, provides basis for evaluation wind-proof safety crane.

This project presents an experimental investigations into the development proportional integral derivative (PID) control schemes for active sway control of a gantry crane system. The main objective of controlling a gantry crane is to transport the load as fast as possible without causing any unnecessary swing at the final position. The proposed controller is used as a feedback control which is ...

This paper proposes a strategy for handling a heavy object by cooperation of a positioncontrolled robot and a crane with multiple wires . Installation of compliant mechanism is essential to avoid excessive inner forces caused by positioning errors of the robot and the crane. First, the necessary mechanical conditions to achieve the cooperation between position-controlled robots are reviewed . S...

To study intelligent auxiliary drive system of port machinery, it needs to identify operational intention of quayside container crane driver. With the background of loading and unloading process of quayside container crane, upon Hidden Markov Model, double HMM model is established. The algorithm of revised Forward-Backward is applied to calculate each likelihood of HMM in operation layer, the m...

Offline crane maneuvers, resulting in zero residual payload swing, have been explored previously using parameterized sets of basis functions. Assumptions usually included an ideal servo response and symmetric inputs. Nonsymmetric maneuvers, in general, do not have closedform basis function solutions. Actuator dynamics further complicate maneuver generation by introducing nonlinearities such as ...

The motivation for this thesis resulted from a study of semi-automated rail mounted gantry cranes at an Australian seaport container terminal. The Sequential Ordering Problem with Time Windows (SOP-TW) can arise as a subproblem of these crane operations. The SOP-TW corresponds to the task of scheduling a single crane to move a set of containers, where each container has: a fixed pick-up locatio...

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...

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...