Ship-mounted container cranes are challenging industrial applications of nonlinear pendulum-like systems with oscillating disturbance which can cause them unstable.Since wave-induced ship motion causes the hoisted con...Ship-mounted container cranes are challenging industrial applications of nonlinear pendulum-like systems with oscillating disturbance which can cause them unstable.Since wave-induced ship motion causes the hoisted container to swing during the transfer operation,the swing motion may be dangerously large and the operation must be stopped.In order to reduce payload pendulation of ship-mounted crane,nonlinear dynamics of ship-mounted crane is derived and a control method using T-S fuzzy model is proposed.Simulation results are given to illustrate the validity of the proposed design method and pendulation of ship-mounted crane is reduced significantly.展开更多
In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiff...In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.展开更多
In this paper, we developed performance assessment criteria to evaluate effects of compliance to ISPS Code＇s requirements on port/terminal operation in Nigeria. The primary data for the study were obtained from copie...In this paper, we developed performance assessment criteria to evaluate effects of compliance to ISPS Code＇s requirements on port/terminal operation in Nigeria. The primary data for the study were obtained from copies ofsurvey questionnaires administered to random sample of port users stratified by areas of specialisation. Hypotheses governing this study were based on the premise that additional port facilities provided and security measures adopted in compliance to ISPS code＇s requirements would have positive spillover effects on port operations. Evidence from data analysis indicated that compliance to ISPS code had positive effects on performance of operational performance of Nigeria ports. Similar effects were also observed inport users＇ satisfaction and profitability. The paper contributes by providing decision support framework for ports and terminals. monitoring and gauging outcomes of ISPS code administration in展开更多
基金work supported by Changwon National University in 2011-2012work partly supported by the second stage of Brain Korea 21 Projects
文摘Ship-mounted container cranes are challenging industrial applications of nonlinear pendulum-like systems with oscillating disturbance which can cause them unstable.Since wave-induced ship motion causes the hoisted container to swing during the transfer operation,the swing motion may be dangerously large and the operation must be stopped.In order to reduce payload pendulation of ship-mounted crane,nonlinear dynamics of ship-mounted crane is derived and a control method using T-S fuzzy model is proposed.Simulation results are given to illustrate the validity of the proposed design method and pendulation of ship-mounted crane is reduced significantly.
基金supported by FRC Tier I grants R397000156112 and R397000157112,National University of Singapore
文摘In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.
文摘In this paper, we developed performance assessment criteria to evaluate effects of compliance to ISPS Code＇s requirements on port/terminal operation in Nigeria. The primary data for the study were obtained from copies ofsurvey questionnaires administered to random sample of port users stratified by areas of specialisation. Hypotheses governing this study were based on the premise that additional port facilities provided and security measures adopted in compliance to ISPS code＇s requirements would have positive spillover effects on port operations. Evidence from data analysis indicated that compliance to ISPS code had positive effects on performance of operational performance of Nigeria ports. Similar effects were also observed inport users＇ satisfaction and profitability. The paper contributes by providing decision support framework for ports and terminals. monitoring and gauging outcomes of ISPS code administration in
