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...

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...

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 ...

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...

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...