Abstract
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.
Similar content being viewed by others
References
http://www.voanews.com/english/news/asia/South-Korea-Mobile-HarbAims-to-Make-Waves-in-Shipping-80647682.html.
E. H. Kim, K. W. Kwak, Y. K. Kim, S. H. Kim, B. M. Kwak, I. G. Jang, and K. S. Kim, “Autopositioning of sliding planes based on virtual force,” International Journal of Control, Automation, and System, vol. 11, no. 4, pp. 798–804, August 2013.
I. G. Jang, K. S. Kim, and B. M. Kwak, “Conceptual and basic designs of the Mobile Harbor crane based on topology and shape optimization,” Structural and Multidisciplinary Optimization, DOI:10.1007/s00158-014-1073-3, 2014.
S. Kery, G. Hughes, E. May, P. Kjolseth, M. Pang, W. Thomas, T. Treakle, and D. Liut, “Achieving high container through-put rates, between vessels in High Seas (a vision of HiCASS),” Proc. of MTS/ IEEE OCEANS, vol. 1, pp. 454–459, 2005.
http://www.portfeederbarge.de/files/3163/upload/pfbconcepgen.pdf.
http://www.mercurius_group.nl/fileupload/projecten/1265991647_1921.pdf.
K. T. Hong, S. H. Kim, S. M. Oh, and K.-S. Hong, “An open-architecture hybrid control system for au tomated container cranes,” Control, Robotics and System, vol. 11, no. 6, pp. 510–517, 2005.
A. Ramirez-Serrano, S. C. Zhu, S. K. H. Chan, S. S. W. Chan, F. Ficocelli, and B. Benhabib, “A hybrid PC/PLC architecture for manufacturing system control — theory and implementation,” Journal of Intelligent Manufacturing, vol. 13, pp. 261–281, 2002.
E. H. Kim, H. J. Joo, S. H. Kim, J. Kim, I. G. Jang, Y S. Hong, I. S. Lee, Y. S. Jung, S. M. Kim, and B. S. Kim, “Dual boom structure, dual boom crane and vessel with the crane,” Korea Patent 10-2009- 0087784, 2009.
Y. S. Jung, I. G. Jang, B. M. Kwak, Y. K. Kim, Y. H. Kim, S. H. Kim, K. S. Kim, and E. H. Kim, “Advanced sensing system for crane spreader motion,” Proc. of International Conf. of SysCon, pp. 1–5, Vancouver, BC, 2012.
M. C. Pai, “Robust input shaping control for multimode flexible structures,” International Journal of Control, Automation, and System, vol. 9, no. 1, pp. 23–31, 2011.
Q. H. Ngo and K.-S. Hong, “Sliding-mode antisway control of an offshore container crane,” IEEE/ASME Trans. on Mechatronics, vol. 17, no. 2, pp. 201–209, April 2012.
J. Fortgang, W. Singhose, J. Marquez, and J. Perezl, “Command shaping control for micro-milling operation,” International Journal of Control, Automation, and System, vol. 9, no. 6, pp. 1136–1145, 2011.
J. Vaughan, A. Yano, and W. Singhose, “Robust negative input shapers for vibration suppression,” Trans. ASME, J. Dyn. Syst. Meas. Control, vol. 131, no. 3, pp. 031014.1–031014.9, 2009.
Y. W. Cho, C. W. Park, K. C. Lee, and M. Park, “An indirect model reference adaptive fuzzy control for SISO Takagi-Sugeno model,” International Journal of Control, Automation, and System, vol. 3, no. 3, pp. 32–42, 2001.
C. S. Li and C. Y. Lee, “Fuzzy motion control of an auto-warehousing crane system,” IEEE Trans. Ind. Electron., vol. 48, no. 5, pp. 983–994, October 2001.
F. J. Lin and R. J. Wai, “A hybrid computed torque controller using fuzzy neural network for motorquick-return servo mechanism,” IEEE/ASME Trans. on Mechatronics, vol. 6, no. 1, pp. 75–89, March 2001.
Y. Fang, W. E. Dixon, D. M. Dawson, and E. Zergeroglu, “Nonlinear coupling control laws for an underactuated overhead crane system,” IEEE/ ASME Trans. on Mechatronics, vol. 8, no. 3, pp. 418–423, September 2003.
L. Mostefai, M. Denai, and Y. Hori, “Robust tracking controller design with uncertain friction compensation based on a local modeling approach,” IEEE/ASME Trans. on Mechatronics, vol. 15, no. 5, pp. 746–756, October 2010.
Q. H. Ngo and K.-S. Hong, “Adaptive sliding mode control of container cranes,” IET Control Theory and Applications, vol. 6, no. 5, pp. 662–668, March 2012.
K.-S. Hong and Q. H. Ngo, “Dynamics of container crane on a mobile harbor,” Ocean Engineering, vol. 53, pp. 16–24, October 2012.
Q. H. Ngo and K.-S. Hong, “Skew control of a quay crane,” Journal of Mechanical Science and Technology, vol. 23, no. 13, pp. 3332–3339, December 2009.
Author information
Authors and Affiliations
Corresponding authors
Rights and permissions
About this article
Cite this article
Kim, E.H., Jung, Y.S., Yu, Y. et al. An advanced cargo handling system operating at sea. Int. J. Control Autom. Syst. 12, 852–860 (2014). https://doi.org/10.1007/s12555-013-0189-3
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12555-013-0189-3