Development and investigation of smart cargo technologies for maritime intermodal terminal

Tomas Eglynas

Doctoral dissertation

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The new smart quay crane new concept is directly related to the intelligent container and autonomous container carrier concepts. In a vision of autonomous port, while the quay crane spreader approaches to the container at the ship, information about container and cargo resistance must be passed directly to the supercomputers of carrier using radio frequency identification (RFID) technology. Obtained data processing will allow to generate customized fastest and safest specific handling mode for each container, depending on causes of wind, swinging caused by ship movement and etc. The main objectives of the thesis becomes dependency to reduce container sway at quay cranes, by developing the intelligent control system. The intelligent transport problem is solved by developing a quay crane laboratory scaled prototype and adapted mathematical and control system models, using the motion profile based control algorithm implemented with proportional (P), integrative (I) and differentiating (D) controller (PID controller). It should be noted that the PID controller systems were container is the main handling object, which hang on spreader suspended with long ropes, generates significant errors. Dissertation includes developing of a numerical modelling environment for the new system, which results are verified by an experiment, using designed and constructed real-quay crane laboratory prototype.

The dissertation consists of an introduction, three chapters, general conclusions, references, list of author’s publications and summary. The introduction chapter reveals the investigated problem, describing the object of research aim and tasks, describes the research methodology, scientific novelty, the practical significance of the results, defended statements. The first chapter is devoted to a review of the literature. The most researched quay crane mathematical models and its control algorithms for transportation “ship-to-shore” are discussed. The second chapter describes the mathematical modeling task of quay crane spreader with lifting mechanism and presents a system of differential equations for quay crane is created that takes into account the fluctuations and dynamic properties which affect cargo overload evaluation. The third chapter summarize the findings from virtual simulation, from the designed and created quay crane experimental laboratory prototype with developed control algorithms. Also the control algorithm with sway compensation subsystem are presented. Experimental studies are discussed.

The dissertation concludes with general conclusions.

There are 11 articles published on dissertation topic – one article included in the Thomson ISI list, two – in international peer-reviewed scientific journals, 8 at issues of national and international conferences.

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145×205 mm
164 p.
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