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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
66 International Conference 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 2022-09-13
65 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
64 International Conference Min-Chul Kong, Myung-Il Roh, Ki-Su Kim, Jongoh Kim, Hogyun Park, Jeongyoul Lee, "A Method of Variable Recognition and Connection for Reviewing Ship Regulations", Proceedings of ICCAS 2022, Yokohama, Japan, pp. 171-175, 2022.09.13-15 file 2022-09-14
63 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 file 2022-10-09
62 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. 82, 2022.10.09-13 file 2022-10-09
61 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
60 International Conference Ki-Su Kim, Myung-Il Roh, Seung-Ho Ham, Sol Ha, "Evacuation Analysis of Passenger Ships Considering Intermediate Flooding", Proceedings of International Symposium on PRADS 2022, Dubrovnik, Croatia, pp. 628-632, 2022.10.09-13 file 2022-10-10
59 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 2022-10-10
58 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, 2022.10.09-13 file 2022-10-12
57 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
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