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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
130 International Conference Ju-Hwan Cha, Myung-Il Roh, Seung-Ho Ham, Kyu-Yeul Lee, Kwang Phil Park, Heung Won Suh, "Development of an Integrated Simulation Framework and Its Application to Shipbuilding Process Planning", Proceedings of ICCAS(International Conference on Computer Applications in Shipbuilding) 2007, Portsmouth, UK, pp. 283-290, 2007-09.18-20 file 2007-09-18
129 International Conference Ji-Hyun Hwang, Joon-Ho Min, Young-Joo Ahn, Hee-Chang Kim, Myung-Il Roh, Kyu-Yeul Lee, "Optimized Methodology to Build an Integrated Solution to Offshore Topside Process Engineering", Proceedings of ISOPE 2008, Vancouver, Canada, 2008.07.06-11 file 2008-07-06
128 International Conference Ju-Hwan Cha, Seung-Ho Ham, Kyu-Yeul Lee, Myung-Il Roh, Kwang-Pil Park, Heung-Won Suh, "Discrete Event/Discrete Time Simulation of Block Erection by a Floating Crane based on Multibody System Dynamics", Proceedings of ISOPE 2009, Osaka, Japan file 2009-06-21
127 International Conference Ji-Hyun Hwang, Ju-Hwan Cha, Seung-Ho Ham, Bo-Ram Kim, Myung-Il Roh, Kyu-Yeul Lee, "Establishment of Offshore Process FEED Method for Oil-Based FPSO Topsides Systems", Proceedings of ISOPE 2009, Osaka, Japan, pp. 144-150, 2009.06.21-26 file 2009-06-21
126 International Conference Ji-Hyun Hwang, Young-Joo Ahn, Joon-Ho Min, Gwang-No Lee, Ho-Jin Jeong, Mung-Yu Kim, Hee-Chang Kim, Myung-Il Roh, Kyu-Yeul Lee, "Application of an Integrated Basic Process Engineering Solution to Generic LNG FPSO Topsides", Proceedings of ISOPE 2009 file 2009-06-21
125 International Conference John-Kyu Hwang, Geun-Jae Bang, Myung-Il Roh, Kyu-Yeul Lee, "Detailed Design and Construction of the Hull of an FPSO(Floating, Production, Storage, and Off-loading unit)", Proceedings of ISOPE 2009, Osaka, Japan, pp. 151-158, 2009.06.21-26 file 2009-06-21
124 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
123 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
122 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
121 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
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