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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
100 International Journal Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Donghun Yu, “Deep Reinforcement Learning-based Collision Avoidance for an Autonomous Ship”, Ocean Engineering, Vol. 234, pp. 1-20, 2021.08.15 file 2021-08-15
99 International Journal Beom-Soo Kim, Min-Jae Oh, Jae-Hoon Lee, Yonghwan Kim, Myung-Il Roh, "Study on Hull Optimization Process Considering Operational Efficiency in Waves", Processes, Vol. 9, No. 5, pp. 898.1-21, 2021.05.19 file 2021-05-19
98 International Journal Min-Jae Oh, Myung-Il Roh, Sung-Woo Park, Do-Hyun Chun, Myeong-Jo Son, Jeong-Youl Lee, “Operational Analysis of Container Ships by Using Maritime Big Data”, Journal of Marine Science and Engineering, Vol. 9, No. 4, pp. 438: 1-21, 2021.04.18 file 2021-04-18
97 International Journal Jisang Ha, Myung-Il Roh, Hye-Won Lee, “Quantitative Calculation Method of the Collision Risk for Collision Avoidance in Ship Navigation Using the CPA and Ship Domain”, Journal of Computational Design and Engineering, Vol. 8, No. 3, 2021.06.01 file 2021-06-01
96 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
» International Journal 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 file 2021-04-01
94 International Journal Hye-Won Lee, Joo-Hyun Woo, Myung-Il Roh, Seung-Ho Ham, et al., "Integrated Simulation of Virtual Prototypes and Control Algorithms of Unmanned Surface Vehicles Based on a Robot Operating System", Journal of Marine Science and Technology (Taiwan) file 2021-09-03
93 International Journal Jisang Ha, Myung-Il Roh, Seung-Ho Ham, Sung-Jun Lee, “Optimum Design of the Underwater Discharge System Based on Surrogate Modeling”, Journal of Marine Science and Technology (Taiwan), Vol. 29, No. 3, pp. 338-353, 2021.06.01 file 2021-06-01
92 International Journal Ki-Su Kim, June-Beom Lee, Myung-Il Roh, Ki-Min Han, Gap-Heon Lee, "Prediction of Ocean Weather Based on Denoising AutoEncoder and Convolutional LSTM", Journal of Marine Science and Engineering, Vol. 8, No. 10, pp. 805:1-24, 2020.10.14 file 2020-10-14
91 International Journal Ki-Su Kim, Myung-Il Roh, “ISO 15016:2015-based Method for Estimating the Fuel Oil Consumption of a Ship”, Journal of Marine Science and Engineering, Vol. 8, No. 10, pp. 791:1-18, 2020.10.12 file 2020-10-12
90 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
89 International Journal Ki-Su Kim, Myung-Il Roh, "Dynamic Flooding Analysis Method for Intermediate Flooding Process of a Ship", Ocean Engineering, Vol. 218, pp. 108173.1-33, 2020.12.15 file 2020-12-15
88 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
87 International Journal Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Block Erection Simulation Considering Frictional Contact with Wire Ropes", Ocean Engineering, Vol. 217, pp. 1-24, 2020.12.01 file 2020-12-01
86 International Journal Do-Hyun Chun, Myung-Il Roh, Seung-Ho Ham, “Optimum Arrangement Design of Mastic Ropes for Membrane-type LNG Tanks Considering the Flatness of Thermal Insulation Panel and Production Cost”, Journal of Marine Science and Engineering, Vol. 8, No. 5 file 2020-05-16
85 International Journal Seong-Hoon Kim, Myung-Il Roh, Min-Jae Oh, Sung-Woo Park, "Estimation of Ship Operational Efficiency from AIS Data Using Big Data Technology", IJNAOE, Vol. 12, pp. 440-453, 2020.05.21 file 2020-05-21
84 International Journal Sang-Hyun Lee, Myung-Il Roh, Min-Jae Oh, Ki-Su Kim, "Optimal Layout Design of an LNG FPSO: A Case Study", Journal of Offshore Mechanics and Arctic Engineering, Vol. 142, No. 041403, pp. 1-17, 2020.08.01 file 2020-08-01
83 International Journal Joo-Pil Lee, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "Design of a Wreck Removal Method Considering Safety and Economy", Ships and Offshore Structures, Vol. 15, No. 10, pp. 1037-1056, 2020.12.01 file 2020-12-01
82 International Journal Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, "Collision Detection and Response of Multibody Systems Using a Position Difference Method and Non-Interpenetration Constraint in Shipbuilding Simulation", Ocean Engineering, Vol. 195, pp. 1-18, 2020.01.01 file 2020-01-01
81 International Journal Luman Zhao, Myung-Il Roh, "COLREGs-Compliant Multiship Collision Avoidance Based on Deep Reinforcement Learning", Ocean Engineering, Vol. 191, pp. 1-15, 2019.11.01 file 2019-11-01
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