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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
66 International Conference Ki-Su Kim, Myung-Il Roh, Sung-Min Lee, "Toward a Robust Optimization Method for Ship Route Planning Considering Cost and Safety Aspect", Proceedings of ACDDE 2017, Zhangjiajie, China file 2017-08-26
65 International Conference Ki-Su Kim, Myung-Il Roh, Sung-Min Lee, "A Simultaneous Optimization Method of the Direction and Speed for Ship Route Planning", Proceedings of Smart Ship Technology 2017, London, England, 2017.01.24-25 file 2017-01-25
64 International Conference Ki-Su Kim, Myung-Il Roh, Sung-Kyoon Kim, "An Arrangement Design Framework for Ships and Offshore Plants Based on Expert System and Optimization Technique", Proceedings of OMAE 2016, Busan, Korea, pp. 1-5, 2016.06.19-24 file 2016-06-20
63 International Conference Ki-Su Kim, Myung-Il Roh, Seung-Min Lee, "Flooding Analysis Based on PBD (Position Based Dynamics) for Ships and Offshore Structures", Proceedings of ISOPE 2018, Sapporo, Japan, pp. 955-957, 2018.06.10-15 file 2018-06-14
62 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
61 International Conference Ki-Su Kim, Myung-Il Roh, Seung-Ho Ham, "Ship Route Planning Considering the Effects of Sea State and the Fuel Consumption", Proceedings of PRADS 2016, Copenhagen, Denmark, 2016.09.04-09.08 file 2016-09-07
60 International Conference Ki-Su Kim, Myung-Il Roh, Ju-Sung Kim, "A Method of Dynamic Flooding Analysis in Time Domain for the Compartment Arrangement Design of a Ship", Proceedings of ISOPE 2017, San Francisco, USA, pp. 862-866, 2017.06.25-30 file 2017-06-28
59 International Conference Ki-Su Kim, Myung-Il Roh, "Optimization of the Arrangement Design of a Ship Considering the Multiple Performance", Proceedings of ACSMO 2020, Seoul, Korea, pp. 167, 2020.11.23-25 file 2020-11-24
58 International Conference Ki-Su Kim, Myung-Il Roh, "Optimal Arrangement Method of a Ship Considering the Performance against Flooding", Proceedings of PRADS 2019, Yokohama, Japan, 2019.09.22-26 file 2019-09-22
57 International Conference Ki-Su Kim, Jung-Woo Hong, Sol Ha, Seung-Ho Ham, Nam-Kug Ku, Myung-Il Roh, "A Method for Optimal Arrangement Design Based on Expert System and Its Application to Submarine Design", Proceedings of IMDC 2015, Tokyo, Japan, 2015.5.11-14 file 2015-05-13
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