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Abstract The block erection using a crane such as a gantry crane and a floating crane is one of the most important processes in the production of ships and offshore structures. To mount the block with the correct position and angle, it is important to control the block accurately not to occur the unexpected movement like rotation. However, it is difficult to apply the existing control theory to the block lifting operation because the movement of the block is controlled indirectly with the control of various objects such as the crane and wire ropes. To solve this problem, a block control method based on deep reinforcement learning is proposed in this study. The proposed method is easier to control the block with wire ropes and to consider irregular external force than existing control theory. In this study, the angle and angular velocity of the lifting block and the hoisting speed of each wire rope that can affect the motion of the block are set as states of reinforcement learning, and the hoisting speed that is the control object is set as an action of reinforcement learning. The reward function of reinforcement learning is designed to increase when the angle of the block decrease and the speed of the block is close to the target speed. In this study the policy gradient method which is a kind of policy-based methods of deep reinforcement learning is used to solve the problem with continuous states and action. To check the applicability and feasibility of the proposed method, The block lifting simulation is performed using the existing control theory and the proposed method. We compared the proposed method with the existing control theory. The result shows that the proposed method can minimize the motion of the lifting block more effectively than the existing control theory.
Publication Date 2019-08-28

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(International Federation of Automatic Control) 2019, Berlin, Germany, 2019.08.28-30


List of Articles
번호 분류 제목 Publication Date
453 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
452 International Conference Jin-Hyeok Kim, Myung-Il Roh, In-Chang Yeo, Ki-Su Kim, "Estimation of the Hydrodynamic Performance of the Parameterized Hull Forms Using Deep Learning", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10 2022-11-06
451 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
450 International Conference Min-Chul Kong, Myung-Il Roh, Jisang Ha, Jeong-Ho Park, EunSeok Jin, Donghun Yu, "Integrated Navigation Assistance System Using Augmented Reality", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10 2022-11-06
449 International Conference In-Chang Yeo, Myung-Il Roh, Hye-Won Lee, "An Optimization Method of the Surround-View Camera System for Automatic Berthing of Ships", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10 2022-11-06
448 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Bo-Woo Nam, "Coupled Analysis of the LNG Offloading Operation Based on Multibody Dynamics", Proceedings of PRADS 2022, Dubrovnik, Croatia, 2022.10.09-13 2022-10-09
447 International Conference Ki-Su Kim, Myung-Il Roh, Seung-Ho Ham, Sol Ha, "An Improved Method for the Evacuation Analysis of a Passenger Ship Considering Intermediate Flooding", Proceedings of PRADS 2022, Dubrovnik, Croatia, 2022.10.09-13 2022-10-09
446 International Conference Jisang Ha, Myung-Il Roh, Ki-Su Kim, Min-Chul Kong, "Integrated Method for the Arrangement Design of a Ship for Implementing Digital Twin in Design", Proceedings of PRADS 2022, Dubrovnik, Croatia, 2022.10.09-13 file 2022-10-09
445 International Conference Jin-Hyeok Kim, Myung-Il Roh, In-Chang Yeo, Ki-Su Kim, Min-Jae Oh, Sejin Oh, "Estimation Model of Hydrodynamic Performance Using Hull Form Variation and Deep Learning", Proceedings of PRADS 2022, Dubrovnik, Croatia, pp.??, 2022.10.09-13 2022-10-09
444 International Conference Min-Chul Kong, Myung-Il Roh, Jisang Ha, Eun Seok Jin, Donghun Yu, "Design of the Integrated System for the Safe Operation Based on Augmented Reality", Proceedings of PRADS 2022, Dubrovnik, Croatia, pp. ???, 2022.10.09-13 2022-10-09
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