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International Journal

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Title E. H. Kim, Y. S. Jung, Y. Yu, S. Kwon, H. Ju, S. Kim, B. M. Kwak, I. G. Jang, K. S. Kim, "An advanced cargo handling system operating at sea," Int J. Control. Autom., vol. 12, no. 4, pp. 852-860, 2014.
Hits 249 Date 2016-06-02 19:31
Link link.springer.com/article/10.1007/s12555-013-0189-3




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. 

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