Nonlinear Dynamics of Crane Operation at Sea

Award Information
Agency:
Department of Defense
Branch
Navy
Amount:
$400,096.00
Award Year:
1997
Program:
SBIR
Phase:
Phase II
Contract:
n/a
Award Id:
28517
Agency Tracking Number:
28517
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
40 Lloyd Avenue, Suite 200, Malvern, PA, 19355
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
Dr. Robert H. Overton
(804) 727-7700
Business Contact:
() -
Research Institution:
n/a
Abstract
The object of this project is to develop an automatic shipboard container loading system combining a nonlinear automatic crane control with a nonlinear lighter-tracking system. The integrated system will move containers to their destinations quickly and safely, during offshore loading operations. The control system will remove pendulation ("sway") induced by crane platform motion, and is based on an existing Anti-Sway Control (ASC) system developed by Wagner for shore-based cranes. ASC employs a nonlinear, nearly time-optimal, double-pulse control law that meets arbitrary velocity or load position demands with zero sway. The shipboard anti-sway control will be integrated with the T-ACS Rider-Block Tagline System (RBTS) to control sway in 3 dimensions. The lighter-tracking component is based on an existing Moored-Ship Motion Determination (MSMD) system also developed by Wagner. The MSMD system is a sensor system developed specifically for tracking the motion of vessels restrained by warps to loading platforms. MSMD employs an extended Kalman filter (EKF) and a nonlinear motion model to fuse multiple-sensor data into relative position, orientation, and rate of movement of the lighter, in six degrees of freedom. This technology will

* information listed above is at the time of submission.

Agency Micro-sites


SBA logo

Department of Agriculture logo

Department of Commerce logo

Department of Defense logo

Department of Education logo

Department of Energy logo

Department of Health and Human Services logo

Department of Homeland Security logo

Department of Transportation logo

Enviromental Protection Agency logo

National Aeronautics and Space Administration logo

National Science Foundation logo
US Flag An Official Website of the United States Government