Hydraulic cranes are inherently nonlinear and contain components exhibiting strong friction, saturation, variable inertia mechanical loads, etc. The characteristics of these non-linear components are usually not known exactly as structure or parameters. For these reasons, tuning of the traditional PID controller parameters to control this system for the required performance faces a strong chall...

This paper discusses the development and implementation of a new ergonomic manual control system for a large construction manipulator. The manipulator consists of a 22 ton rough terrain hydraulic crane with a multifunction manipulator attachment. The combined device gives a single operator hydraulic control over eight independent joint axes allowing for dextrous positioning of large sections of...

Ice surface altimetry from ICESat-1 and NASA aircraft altimeter overflights spanning 2002– 09 indicate that a region of lower Crane Glacier, Antarctic Peninsula, shows an unusual temporal pattern of elevation loss: a period of very rapid drawdown ( 91ma between September 2004 and September 2005) bounded by periods of large but more moderate rates (23ma until September 2004; 12ma after September...

Open-sea stevedores of containers provide an alternative way to avoid port congestion. This process involves a mobile harbour equipped with a crane which loads/unloads containers from a large cargo ship. However, the presence of ocean waves and gusty winds can produce an excessive sway to the hoisting ropes of the crane system. This paper presents a second-order sliding mode controller for traj...

Open-sea stevedores of containers provide an alternative way to avoid port congestion. This process involves a mobile harbour equipped with a crane which loads/unloads containers from a large cargo ship. However, the presence of ocean waves and gusty winds can produce an excessive sway to the hoisting ropes of the crane system. This paper presents a second-order sliding mode controller for traj...

T HE Sandhill Crane (Grus canadensis) nests on the low, wet coastal tundra near the mouth of the McConnell River (60” 50’ N, 94” 25’ W) , on the western shore of Hudson Bay. During studies of geese and jaegers we have made many casual observations of cranes. Although adult cranes are conspicuous due to their large size and loud calls, the nests and young are very difficult to locate. Since the ...

This paper considers the design of an H∞ controller for tool point control of a hydraulically actuated knuckle boom crane. The paper describes the modelling of the crane’s mechanical and hydraulic systems and a disturbance model. These are linearised and combined in a state-space model used for the controller design. The controller synthesis problem is to design (if possible) an admissible cont...

Due to the central role of cranes in construction operations, specialists in the construction industries have cooperated in the development of structured methods and software to help select the best crane type in construction sites. Crane selection is a time consuming process which needs extensive data exploitation. Moderately few systems have been developed to aid in selecting cranes and in se...