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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...
Responding to the changing market environment, while addressing the challenges associated with traditional approaches, calls for a novel solution in maritime cargo transport. KAIST proposed Mobile Harbor (MH) as a next generation maritime container transport solution. Since the MH system operates under harsh at-sea condition, controlling the undesirable swing motion of a spreader requires a robust...
In this paper, the orientation control (trim, list, and skew control) of the load (container) in the crane located in the mobile harbor (MH) is investigated based on the derived mathematical model of the four-rope crane. A container hooked to a spreader is suspended in air by four ropes. When the container is accelerated by the trolley or is disturbed by winds, it rotates (trim, list, and skew) as...
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