We suggest a modification of the Barrett-Crane spin foam model of 4-dimensional Lorentzian general relativity motivated by the canonical quantization. The starting point is Lorentz covariant loop quantum gravity. Its kinematical Hilbert space is found as a space of the so-called projected spin networks. These spin networks are identified with the boundary states of a spin foam model and provide...

At rail-road transshipment yards, gantry cranes move containers from freight trains to trucks and vice versa. They constitute important entities in today's intermodal transportation systems. Real-world yards are often partitioned into several disjunct crane areas, so that crane interferences during container transshipment are avoided. In practice, the lengths of such crane areas are typically d...

This paper summarizes the most important advances of the used crane control technology in perspective of automatic operation of container cranes. Faster and more productive container cranes demands highly efficient yard system. Storage capacity is the limitation for most terminals today; automatic operation offers optimum stacking density and peak capacity equivalent for continuous manning of e...

Energy savings in the traffic sector are of considerable importance for economic and environmental considerations. Recuperation mechanical energy commercial vehicles can contribute to this goal. One promising technology rests on hydraulic systems, particular trucks which use such system also other purposes as lifting cargo or operating a crane. In work potential is analyzed with tipper bodies, ...

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 ...

The main goal of the paper is to show that nonlinear model based predictive control is an effective alternative method for controlling uncertain nonlinear underactuated systems satisfying real time expectations where uncertainty is caused by friction and disturbance. The paper presents control algorithms for a two degree of freedom robot and for two underactuated systems, the small size model o...

Automated storage and retrieval systems (AS/RSs) are major material handling systems, which have been widely used in distribution centers and automated productions. This paper studies the characteristics of a miniload AS/RS with an open-rack structure and unidirectional-upward mobile loads within the rack. In this warehousing system, the stacker crane is used for the retrieval operations and sh...

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...