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Abstract Block erection is one of the most common operations for moving a block in a shipyard. During the operation, the position and orientation of the block need to be precisely controlled to avoid accidents. However, the operation is performed manually, which is inefficient and potentially dangerous. Furthermore, the sophisticated cranes used for block erection are difficult to control. In this study, the control of a gantry and a floating crane was performed for the block erection operation. The underactuated mechanical system control theory was used, and the concept of servo constraints was applied for trajectory tracking control. Subsequently, the inverse dynamics solver was formulated, including the dynamics equations of the cranes and motion planning. A combination of feedforward and feedback controls was adopted, and reliable control was achieved using both a gantry and floating crane under various environmental conditions. The results show that the suggested method can be applied for the appropriate control of the block erection operation.
Publication Date 2021-04-01
Role Corresponding Author
Category SCIE
Impact Factor 7.700

Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Underactuated Crane Control for the Automation of Block Erection in Shipbuilding", Automation in Construction, Vol. 124, pp. 1-28, 2021.04.01


https://doi.org/10.1016/j.autcon.2021.103573


List of Articles
번호 분류 제목 Publication Date
106 International Journal Xing Li, Myung-Il Roh, Seung-Ho Ham, "A Collaborative Simulation in Shipbuilding and the Offshore Installation Based on the Integration of the Dynamic Analysis, Virtual Reality, and Control Devices", IJNAOE, Vol. 11, No. 2, pp. 699-722, 2019.07.01 file 2019-07-01
105 International Journal Won-Jae Lee, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Cho, Nam-Sun Son, “Detection and Tracking for the Awareness of Surroundings of a Ship Based on Deep Learning”, Journal of Computational Design and Engineering, Vo. 8, No. 5 file 2021-10-01
104 International Journal Tae-Sub Um, Myung-Il Roh, "Optimal Dimension Design of a Hatch Cover for Lightening a Bulk Carrier", International Journal of Naval Architecture and Ocean Engineering, Vol. 7, No. 2, pp. 270-287, 2015.03.01 file 2015-03-01
103 International Journal Sung-Woo Park, Myung-Il Roh, Min-Jae Oh, Seong-Hoon Kim, "Association Analysis of Piping Materials of an Offshore Structure Using Big Data Technology", Journal of Ship Production and Design, Vol. 35, No. 3, pp. 220-230, 2019.08.01 file 2019-08-01
102 International Journal Sung-Min Lee, Myung-Il Roh, Ki-Su Kim, Seung-Ho Ham, "Optimum Design of Lug Arrangement Based on Static and Dynamic Analyses for Block Lifting", Journal of Ship Production and Design, Vol. 34, No. 2, pp. 119-133, 2018.05.01 file 2018-05-01
101 International Journal Sung-Min Lee, Myung-Il Roh, Ki-Su Kim, Hoe-Ryong Jung, Jong-Jin Park, "Method for a Simultaneous Determination of the Path and the Speed for Ship Route Planning Problems", Ocean Engineering, Vol. 157, pp. 301-312, 2018.06.01 file 2018-06-01
100 International Journal Sung-Kyoon Kim, Myung-Il Roh, Ki-Su Kim, “Evaluation of Feasibility Index in the Arrangement Design of an Offshore Topside based on the Automatic Transformation of Experts’ Knowledge and the Fuzzy Logic”, Ocean Engineering, Vol. 130, 2017.01.15 file 2017-01-15
99 International Journal Sung-Kyoon Kim, Myung-Il Roh, Ki-Su Kim, “Arrangement Method of Offshore Topside Based on an Expert System and Optimization Technique”, Journal of Offshore Mechanics and Arctic Engineering, Vol. 139, No. 2, pp. 1-19, 2017.04.01 file 2017-04-01
98 International Journal Sung-Jun Lee, Myung-Il Roh, Min-Jae Oh, "Image-based Ship Detection Using Deep Learning", Ocean Systems Engineering, Vol. 10, No. 4, pp. 415-434, 2020.12.01 file 2020-12-01
97 International Journal Sun-Kyung Jung, Myung-Il Roh, Ki-Su Kim, "Arrangement Method of a Naval Surface Ship Considering Stability, Operability, and Survivability", Ocean Engineering, Vol. 152, pp. 316-333, 2018.02.23 file 2018-02-23
96 International Journal Sol Ha, Tae-Sub Um, Myung-Il Roh, Hyun-Kyoung Shin, “A Structural Weight Estimation Model of FPSO Topsides Using an Improved Genetic Programming Method”, Ships and Offshore Structures, Vol. 12, No. 1, pp. 43-55, 2017.01.01 file 2017-01-01
95 International Journal Sol Ha, Seong-Ho Seo, Myung-Il Roh, Hyun-Kyoung Shin, "Simplified Nonlinear Model for the Weight Estimation of FPSO Plant Topside Using the Statistical Method", Ships and Offshore Structures, Vol. 11, No. 6, pp. 603-619, 2016.09.01 file 2016-09-01
94 International Journal Sol Ha, Nam-Kug Ku, Myung-Il Roh, Kyu-Yeul Lee, "Cell-Based Evacuation Simulation Considering Human Behavior in a Passenger Ship", Ocean Engineering, Vol. 53, pp. 138-152, 2012.10.01 file 2012-10-01
93 International Journal Sol Ha, Nam-Kug Ku, Myung-Il Roh, Ho-Jin Hwang, "Multibody System Dynamics Simulator for Process Simulation of Ships and Offshore Plants in Shipyards", Advances In Engineering Software, Vol. 85, pp. 12-25, 2015.07.01 file 2015-07-01
92 International Journal Sol Ha, Nam-Kug Ku, Myung-Il Roh, "Event-based Scenario Manager for Multibody Dynamics Simulation of Heavy Load Lifting Operations in Shipyards", International Journal of Naval Architecture and Ocean Engineering, Vol. 8, No. 1, pp. 83-101, 2016.01.01 file 2016-01-01
91 International Journal Sol Ha, Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Implementation of the Submarine Diving Simulation in a Distributed Environment", International Journal of Naval Architecture and Ocean Engineering, Vol. 4, No. 3, pp. 211-227, 2012.09.01 file 2012-09-01
90 International Journal Seung-Min Lee, Jong-Hyeok Lee, Myung-Il Roh, Ki-Su Kim, Seung-Ho Ham, Hye-Won Lee, "An Optimization Model of Tugboat Operation for Conveying a Large Surface Vessel", Journal of Computational Design and Engineering, Vol. 8, No. 2, 2021.04.01 file 2021-04-01
89 International Journal Seung-Ho Ham, Myung-Il Roh, “Time-domain Structural Analysis During Block Turnover and Lifting Using 2D Flexible Multibody Dynamics”, Marine Structures, Vol. 75, pp. 102841.1-26, 2021.01.01 file 2021-01-01
88 International Journal Seung-Ho Ham, Myung-Il Roh, Luman Zhao, "Integrated Method of Analysis, Visualization, and Hardware for Ship Motion Simulation", Journal of Computational Design and Engineering, Vol. 5, No. 3, pp. 285-298, 2018.07.01 file 2018-07-01
87 International Journal Seung-Ho Ham, Myung-Il Roh, Jung-Woo Hong, “Dynamic Effect of a Flexible Riser in a Fully Connected Semisubmersible Drilling Rig Using the Absolute Nodal Coordinate Formulation”, Journal of Offshore Mechanics and Arctic Engineering, 2017.10.01 file 2017-10-01
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