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|ㆍ 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.|
|ㆍ Hits||435||ㆍ Date||2016-06-02 19:31|
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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