Hye-Won Lee, Seung-Ho Ham, Jeong-Woo Hong, Sol Ha, Myung-Il Roh, "Motion Analysis of a Heavy Load Suspended by a Floating Crane Using Constraint-based Wire Rope based on Discrete Variational Method", Proceedings of the 28th Asian-Pacific TEAM 2014
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Abstract | So far, in the motion analysis, wire ropes have been modeled by incompressible springs which only exert a force when it is extended. Thus, we cannot consider their properties like real wire ropes, such as twisting and bending. Moreover, we have often seen that they generated an unstable motion, and sometimes stiffness problems, especially when the spring coefficient is very large and the mass is not large enough. Therefore, to reflect not only stretching, but also twisting and bending, we adapt the constraint-based wire rope model which discretizes the wire rope as small elements having length and angular constraints. In addition, we use discrete vairational method which is proven to be numerically stable for the case of linear holonomic constraints. As a result, the equation of motion of a floating crane and a heavy load connected by constraint-based wire rope is formulated. Linearized hydrodynamic and hydrostatic forces are considered as the external forces which induce the floating crane motion. It is confirmed that the motions of a floating crane and a heavy load using constraint-based wire rope are stable compared with the motions using incompressible spring. |
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Publication Date | 2014-10-15 |
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Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Do-Hyun Chun, "Controller Design of a Gantry Crane for the Safe Erection of Blocks in Shipyards", Proceedings of PRADS 2019, Yokohama, Japan, 2019.09.22-26
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Hye-Won Lee, Seung-Ho Ham, Jeong-Woo Hong, Sol Ha, Myung-Il Roh, "Motion Analysis of a Heavy Load Suspended by a Floating Crane Using Constraint-based Wire Rope based on Discrete Variational Method", Proceedings of the 28th Asian-Pacific TEAM 2014
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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
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In-Chang Yeo, Myung-Il Roh, Hye-Won Lee, Donghun Yu, "A Method for Automatic Berthing of a Ship Using LIDAR", Proceedings of 10th PAAMES and AMEC 2023, Kyoto, Japan, 2023.10.18-20
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Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Jo, Nam-Sun Son, "Detection and Tracking Methods of Maritime Obstacles Using Multiple Cameras", Proceedings of ICDM 2022, Siheung, Korea, 2022.04.28-29
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Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Jo, Nam-Sun Son, "Obstacle Detection and Tracking of Unmanned Surface Vehicles Using Multi-view Images in Marine Environment", Proceedings of ICCAS 2022, Yokohama, Japan, 2022.09.13-15
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Jeong-Woo Hong, Seung-Ho Ham, Luman Zhao, Xing Li, Sol Ha, Myung-Il Roh, "Offshore Installation of Subsea Equipment Considering Elasticity of the Crane Boom in Harsh Environment", Proceedings of ISOPE 2015, Hawaii, USA, 2014.06.21-26
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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
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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
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Ji-Hyun Hwang, Nam-Kug Ku, Joon-Chae Lee, Myung-Il Roh, Kyu-Yeul Lee, "Optimal Synthesis of LNG FPSO Liquefaction Cycles", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2012, Rhodes, Greece, pp. 927-935, 2012.06.17-22