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This paper discusses the mathematical modeling and residual vibration control problem of a quayside container crane, which is one of the automated handling equipment for containers at a seaport. The main purpose of the quayside crane is the safe loading and un-loading of the container ships in quick time. The residual vibrations of the transported containers cause operational delays and therefore...
A cable-driven parallel robot (CDPR) is a special type of parallel robot. In the past two decades, CDPRs have been attracted a lot of attention since they have various advantages such as large workspace, low energy consumption, heavy payload capability and easy re-configurability. Especially, the greatest strength is that workspace can be expandable easily. CDPRs have enough large workspace inside...
This paper describes mechanism the quadcopter with on-board sensors. This quadcopter consists of four rotors, four straight legs, and a disk-shaped body. The body is mainly composed of a lightweight, very rigid carbon fiber reinforced polymer (CFRP) and resin composite. A 9-axis inertial measurement unit (IMU) that contains accelerometer and gyroscope and magnetometer is installed in the body to measure...
A Fuzzy-PD control strategy for an offshore container crane is investigated in this study. The offshore crane is used to handle containers between a mega container ship (called the "mother ship") and a smaller ship (called the "mobile harbor"), which is equipped with container crane. The concept of the mobile harbor is a floating form that has the capability of transferring cargo...
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