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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 Sung-Min Lee, Myung-Il Roh, Ki-Su Kim, "Determination of Economical Ship Route Using Simultaneous Optimization Method", Proceedings of ACDDE 2016, Jeju, Korea, 2016.10.25-28 file 2016-10-27
129 International Conference Sung-Kyoon Kim, Sol Ha, Seun-Ho Ham, Myung-Il Roh, "Optimal Layout Method for Offshore Plant Topside Considering the Safey, Operability and Maintanability", Proceedings of IMDC 2015, Tokyo, Japan, 2015.5.11-14 file 2015-05-12
128 International Conference Sung-Jun Lee, Myung-Il Roh, Min-Jae Oh, Youngsoo Seok, Won-Jae Lee, June-Beom Lee, Hyun Soo Kim, "Image-based Object Detection and Tracking Method for Ship Navigation," Proceedings of ICCAS 2019, Rotterdam, Netherlands, pp. 89-92, 2019.09.24-26 file 2019-09-24
127 International Conference Sung-Jun Lee, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Il-Guk Woo, "Image-based Ship Detection and Classification for Unmanned Surface Vehicle Using Real-Time Object Detection Neural Networks", Proceedings of ISOPE 2018, Sapporo, Japan, 2018.06.10-15 file 2018-06-13
126 International Conference Sun-Kyung Jung, Myung-Il Roh, Seung-Min Lee, Ki-Su Kim, "Optimal Arrangement Method for Naval Surface Ship Considering the Stability, Operability, and Survivability", Proceedings of ICCAS 2017, Singapore, Singapore, 2017.09.26-28 file 2017-09-26
125 International Conference Sol Ha, Seung-Ho Ham, Myung-Il Roh, "Dynamic Route Guidance for Evacuation, Escape and Rescue System at an Offshore Platform Considering Real-time Hazard Avoidance", Proceedings of the 28th Asian-Pacific TEAM 2014, Istanbul, Turkey file 2014-10-15
124 International Conference Sol Ha, Namkug Ku, Myung-Il Roh, Ju-Hwan Cha, "Reliability Analysis Method Using Dynamic Reliability Block Diagram Based on DEVS Formalism," Proceedings of the 13th International Conference on Systems Simulation(AsiaSim 2013), Singapore, pp. 219-230, 2013.11.06-08. file 2013-11-06
123 International Conference Sol Ha, Nam-Kug Ku, Myung-Il Roh, Xing Li, "Evacuation, Escape and Rescue EER Analysis of Offshore Plant Based on Human Behavior Model", Proceedings of OMAE 2014, San Francisco, USA, pp. 1-7, 2014.06.08-13 file 2014-06-10
122 International Conference Sol Ha, Nam-Kug Ku, Myung-Il Roh, Ki-Su Kim, Seung-Ho Ham, Xing Li, Jung-Woo Hong, Hye-Won Lee, "DEVS-based Scenario Manager of Multibody Dynamics Simulator for Shipbuilding Production Process (WIP)", Proceedings of Spring Simulation Multi-Conference 2014, Tampa, USA, pp. 358-363, 2014.04.13-16 file 2014-04-16
121 International Conference Sol Ha, Nam-Kug Ku, Myung-Il Roh, "Ontological Modeling and Process Simulation of LNG FPSO Liquefaction Cycle based on DEVS Formalism", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2013, Alaska, USA, pp. 950-958, 2013.06.30-07.05 file 2013-06-30
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