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Abstract The block erection using a gantry crane is an important process for the production of the ships in a shipyard. The motion of the block should be controlled accurately under the external forces to prevent collision with the structures and the excessive loads on wire ropes. However, it is difficult to control the block during the lifting because the movement of the block is indirectly controlled with various objects such as trolleys, hooks, equalizers, and wire ropes. Therefore, we proposed the Deep Reinforcement Learning (DRL)-based block lifting method in this study. The DRL-based block lifting method can control the block under the change of the center of gravity and modelling uncertainty. Furthermore, the DRL-based block lifting method can provide robust control with an unexpected motion of the block due to the unexpected external disturbance. The position, orientation and angular velocity of the block and hoisting speed of wire ropes were set as the input state of the neural network of DRL. The hosting speed of wire ropes was controlled as the output action of DRL. The functions to minimize the change of orientation and to stabilize the speed of the block were set as the reward of DRL. In this study, the deep deterministic policy gradient (DDPG) method of DRL, which is a kind of off-policy actor-critic method, was applied to solve the problem with continuous state space and continuous multi-action space. To verify the DRL-based block lifting method proposed in this study, it was compared with traditional control algorithms for various simulation examples. As a result, the proposed method could effectively control the block with the modelling uncertainty. Also, the proposed method could respond to the unexpected motion of the block effectively due to the unexpected external disturbance.
Publication Date 2022-04-28

Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "A Block Lifting Method with Wire Ropes Based on Deep Reinforcement Learning", Proceedings of ICDM(International Conference on Decarbonization and Digitalization in Marine Engineering) 2022, Si-Heung, Korea, 2022.04.28-29


List of Articles
번호 분류 제목 Publication Date
145 International Conference Bo-Hyun Lee, Kyoung-Sik Chang, Bum-Sang Yoon, Joo-Sung Lee, Myung-Il Roh, "Large Eddy Simulation of Fully Turbulent Channel Flow Using Variational Multiscale Method", Proceedings of the 23rd Asian-Pacific TEAM(Technical Exchange and Advisory Meeting on Marine Structures) 2009, Kaohsiung, Taiwan, pp. 93-97, 2009.11.30-12.03 file 2009-11-30
144 International Conference Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, "Deep Reinforcement Learning-Based Ship Collision Avoidance Considering Collision Risk", Proceedings of TEAM 2022, Istanbul, Turkey, pp. 268, 2021.12.06-07 file 2021-12-07
» International Conference Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "A Block Lifting Method with Wire Ropes Based on Deep Reinforcement Learning", Proceedings of ICDM 2022, Si-Heung, Korea, 2022.04.28-29 2022-04-28
142 International Conference Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "A Crane Movement Control for Stability of Block Erection Based on Deep Reinforcement Learning", MIM 2019, Berlin, Germany, 2019.08.28-30 file 2019-08-28
141 International Conference 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 PRADS 2022, Dubrovnik, Croatia, pp. 64, 2022.10.09-13 file 2022-10-09
140 International Conference Do-Hyun Chun, Myung-Il Roh, In-Chang Yeo, "Optimum Design of Membrane-type LNG Tanks for Installing Insulation", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10 2022-11-07
139 International Conference Do-Hyun Chun, Myung-Il Roh, Seung-Ho Ham, Hoon-Kyu Oh, Sang-Ok Lee, "Optimum Layout Design of Wedges of Panel for an LNG Tank Considering Amount of Resin Ropes", Proeedings of ISOPE 2019, Honolulu, Hawaii, pp. 1289-1292, 2019.06.16-21 file 2019-06-19
138 International Conference Dong-Guen Jeong, Myung-Il Roh, Ki-Su Kim, Jun-Sik Lee, Dae-Hyuk Kim, Wang-Seok Jang, "A Method for Route Planning of Small Ships in Coastal Areas", Proceedings of ICDM 2022, Si-Heung, Korea, 2022.04.28-29 2022-04-28
137 International Conference Dong-Guen Jeong, Myung-Il Roh, Ki-Su Kim, Jun-Sik Lee, Dae-Hyuk Kim, Wang-Seok Jang, "A Route Planning Method for Coastal Navigation of Small Ships", Proceedings of ICCAS 2022, Yokohama, Japan, pp. 153-156, 2022.09.13-15 file 2022-09-14
136 International Conference Dong-Hoon Jeong, Myung-Il Roh, Seung-Ho Ham, Luman Zhao, Hye-Won Lee, Sol Ha, "Physics-based Simulation of Offshore Installation Operations Considering Ocean Environmental Loads and Operating Conditions", Proceedings of ASEM 2015, Korea file 2015-08-26
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