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Abstract Ships and offshore structures are constructed in a way that several units of blocks are assembled. In the block lifting process, a block is controlled indirectly through the interaction of the crane, hooks, equalizers, and wire ropes (simply, wires). Therefore, it is difficult to control the unexpected movement motions of the block accurately with several connected objects. Furthermore, it is important to construct a robust control model to cope with the modeling uncertainty of the block and the change of lug arrangement. In this study, we proposed the automatic control of the block lifting process with deep reinforcement learning (DRL), which can provide a robust control under uncertainties. The state of a block and wires, such as position, orientation and angular velocity of the block, and the lifting speed of each wire, were used as the input of DRL. Then, the lifting speed of each wire was obtained as the output action of DRL. The reward was applied to reduce the roll and pitch angle of the block and to stabilize the speed of block lifting. The proposed method was applied to various simulation examples of block lifting and compared with traditional control algorithms. As a result, it was confirmed that the proposed method could effectively control the block with unexpected motions due to the modeling uncertainty and the change of the lug arrangement.
Publication Date 2022-10-09

Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "A Method for Automatic Control of Cranes for Block Lifting in Shipyard", Proceedings of International Symposium on PRADS(Practical Design of Ships and Other Floating Structures) 2022, Dubrovnik, Croatia, pp. 64, 2022.10.09-13


List of Articles
번호 분류 제목 Publication Date
140 International Conference Yoon-Nam An, Joo-Sung Lee, Myung-Il Roh, Bum-Sang Yoon, Kyoung-Sik Chang, "Shape Optimization of Structural Member Based on Isogeometry Concept", Proceedings of the 24th Asian-Pacific TEAM(Technical Exchange and Advisory Meeting on Marine Structures) 2010, Vladivostok, Russia, pp. 343-348, 2010.08.23-26 file 2010-08-23
139 International Conference Yoon-Nam An, Joo-Sung Lee, Myung-Il Roh, Bum-Sang Yoon, Kyoung-Sik Chang, "Parametric Study of Mesh Refinement in Isogeometric Analysis", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2010, Beijing, China, pp. 809-812, 2010.06.20-26 file 2010-06-20
138 International Conference Yoon-Nam An, Joo-Sung Lee, Myung-Il Roh, Bum-Sang Yoon, Kyoung-Sik Chang, "Parametric Study of Isogeometric Analysis Using NURBS", Proceedings of the 23rd Asian-Pacific TEAM(Technical Exchange and Advisory Meeting on Marine Structures) 2009, Kaohsiung, Taiwan, pp. 169-173, 2009.11.30-12.03 file 2009-11-30
137 International Conference Yeongmin Jo, Myung-Il Roh, Hye-Won Lee, Donghun Yu, "A Ship Tracking Method under Dynamic Characteristic Changes with LSTM", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10 2022-11-06
136 International Conference Yeong-min Jo, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Do-Hyun Chun, Min-chul Kong, "An Improved Method for the Sensor Fusion for Autonomous Ships", Proceedings of 10th PAAMES and AMEC 2023, Kyoto, Japan, 2023.10.18-20 file 2023-10-20
135 International Conference Won-Joon Lee, Kyu-Yeul Lee, Myung-Il Roh, O-Hwan Kwon, Sung-Geun Lee, "Development of an Initial Hull Structural CAD System for Computer-Aided Process Planning (CAPP)", Proceedings of ICCAS(International Conference on Computer Applications in Shipbuilding) 2002, Malmoe, Sweden, pp. 113-123, 2002.09.09-12 file 2002-09-09
134 International Conference Tae-Sub Um, Jeong-Hoon Park, Myung-Il Roh, "Determination of Optimal Principal Dimensions of the Hatch Cover for Lightening of a Bulk Carrier", Proceedings of ISGMA(International Symposium on Green Manufacturing and Applications) 2012, Jeju, Korea, pp. 1-7, 2012.08.27-29 file 2012-08-27
133 International Conference Sung-Woo Park, Myung-Il Roh, Seong-Hoon Kim, Min-Jae Oh, "Material Requirements Planning of Offshore Structures Using Big Data Frameworks", Proceedings of ISCDE 2017, Ho Chi Minh, Vietnam, pp. 1-2, 2017.12.13-16 file 2017-12-15
132 International Conference Sung-Woo Park, Myung-Il Roh, Min-Jae Oh, Seong-Hoon Kim, Won-Joon Lee, In-Il Kim, Chang-Yong Kim, "Estimation Model of Energy Efficiency Operational Indicator Using Public Data Based on Big Data Technology", Proceedings of ISOPE 2018, Sapporo, Japan file 2018-06-14
131 International Conference Sung-Min Lee, Myung-Il Roh, Ki-Su Kim, Seung-Ho Ham, Shin-Hyung Kim, Jin-Ho Hwang, "Lug Arrangement Design Based on the Optimization Technique and the Dynamic Analysis for Safe Block Lifting in Shipbuilding", Proceedings of ISOPE 2016, Rhodes, Greece file 2016-06-30
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