An advanced cargo handling system operating at sea

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• 作者：Eun Ho Kim (1)
  Yun Sub Jung (2)
  Yonggyun Yu (3)
  Sangwon Kwon (4)
  Hanjong Ju (5)
  Soohuyn Kim (6)
  Byung Man Kwak (6)
  In Gwun Jang (7)
  Kyung-Soo Kim (8)
  
• 关键词：At ; sea cargo transfer ; crane system ; mobile harbor ; position control ; swing free control ; tilting control
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2014
• 出版时间：August 2014
• 年：2014
• 卷：12
• 期：4
• 页码：852-860
• 全文大小：876 KB
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• 作者单位：Eun Ho Kim (1)
  Yun Sub Jung (2)
  Yonggyun Yu (3)
  Sangwon Kwon (4)
  Hanjong Ju (5)
  Soohuyn Kim (6)
  Byung Man Kwak (6)
  In Gwun Jang (7)
  Kyung-Soo Kim (8)
  
  1. Human and Culture Convergence Technology R&D Group, KITECH, University of Science and Technology(UST), 143, Hanggaul-ro, Sangrok-gu, Ansan-si, Gyeonggi-do, 426-910, Korea
  2. Medical Imaging Lab, Multimedia Team, DMC R&D Center, Samsung Electronics, Suwon, Korea
  3. Korea Atomic Energy Research Institute, Daejeon, Korea
  4. Korea Institute of Machinery and Materials, Daejeon, Korea
  5. Microautomation, SmartCity Apts., 46-15 Expo street 123, Yuseong-gu, Daejeon, 305-748, Korea
  6. Division of Mechanical Engineering, KAIST, Daejeon, Korea
  7. Cho Chun Shik Graduate School for Green Transportation, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-701, Korea
  8. Division of Mechanical Engineering, School of Mechanical, Aerospace and Systems Engineering, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-701, Korea
  
• ISSN：2005-4092

文摘

Mobile Harbor (MH) was recently proposed by KAIST as a novel maritime cargo transfer system that can go out to a container ship anchored in deep water and handle containers at sea. Since the system operates in at-sea conditions with waves and wind, the MH crane should be designed to suppress the swing motion of a spreader and compensate the relative motion between the MH and a container ship. For that purpose, we devised a state-of-the-art crane system equipped with a dual stage trolley, tension controller, and intelligent spreader with 3 degrees of freedom. We also integrated a robust sensing system to measure remote motions in harsh open-sea condition. With these advanced systems, we achieved swing free, position, tilting, and heave control systems for precise and safe cargo transfer. Experimental results with a 1/20 scale MH crane show the feasibility of the proposed system for at-sea cargo transfer.