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...

Abstract: Cranes are used to move heavy cargo. While they are in general controlled by a human operator, automated systems are able to obtain more precise control. In this paper, we design a Takagi-Sugeno (TS) fuzzy controller for the crane. For this, first a TS fuzzy model of the crane is developed, and a TS observer is used to estimate the unmeasurable states. The observer is tested in simula...

We present a system for generation and recognition of oscillatory gestures. Inspired by gestures used in two representative human-tohuman control areas, we consider a set of oscillatory motions and refine from them a 24 gesture lexicon. Each gesture is modeled as a dynamical system with added geometric constraints to allow for real time gesture recognition using a small amount of processing tim...