Development of the man-machine fusion overhead traveling crane liquid tank carrier system in consideration of safety and workability

2013 Fiscal Year Final Research Report

• Project/Area Number: 23560275
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Toyota National College of Technology
• Principal Investigator: KANESHIGE AKIHIRO 豊田工業高等専門学校, 機械工学科, 教授 (70224615)
• Co-Investigator(Kenkyū-buntansha): UEKI Satoshi 豊田工業高等専門学校, 機械工学科, 講師 (50467213) ; MIYOSHI Takanori 豊橋技術科学大学, 工学研究科, 准教授 (10345952)
• Project Period (FY): 2011 – 2013
• Keywords: 天井クレーン / 液体タンク / 振動抑制 / 自律化 / 音源方向定位 / 障害物認識 / 障害物回避 / 経路計画

Research Abstract

Developed the transportation control system which restrained the liquid vibration in the obstacle avoidance path planning system which derived a path to evade an obstacle, and to convey to the sound source direction automatically and a tank conveying.
At first, the three-dimensional transportation mechanism of an overhead traveling crane was developed and the sloshing analysis was carried out. Furthermore,in order to improve the vibration suppression of the liquid, 2-degrees of freedom control system is constructed.
Then, in the development of the automatic path planning system using the sound source direction localization, the on-line obstacle avoidance path planning system which extended the obstacle avoidance path planning method of the autonomous mobile robot which Srinivas has proposed to the three-dimensional obstacle avoidance path planning system are developed. And the validity or usefulness of the proposed system was evaluated by simulations and experiments.

Research Products

• [Journal Article] A Design of the Tele-operation Control System for Liquid Container Transfer by an Overhead Traveling Crane (2014)
  • Author(s): A.Kaneshige, Y.KAWASAKI, S.Ueki, T. Miyosi and K.Terashima
  • Journal Title: Proc. of 11th International Conference on Remote Engineering and Virtual Instrumentation(REV2014) Volume: Feb.25-28 Pages: 29-30
• [Journal Article] Development of an Autonomous Mobile Overhead Traveling Crane with on-line Obstacle Recognition and Path-Planning Based on Obstacle Information -The design of a transfer control system in consideration of oscillating control- (2013)
  • Author(s): A.Kaneshige,Y.Kawasaki,S.Ueki,S.Nagai
  • Journal Title: Proc. of The 2013 2nd International Symposium on Computer, Communication, Control and Automation (3CA 2013) Pages: 468-473
• [Journal Article] A Design of an Overhead Crane Tele-operation Control System (2013)
  • Author(s): H.Kato, S.Ueki, A.Kaneshige, T.Miyoshi and K.Terashima
  • Journal Title: Proc. of IEEE International Conference on Mechatronics(ICM2013) Volume: Feb.27-28 Pages: 868-873
• [Journal Article] Development of the Autonomous Overhead Travelling Crane with Real Time Path-Planning Based on Obstacle Information (2012)
  • Author(s): A.Kaneshige, S.Ngai, S.Ueki, T.Miyosi and K.Terashima
  • Journal Title: Proc. of 13th IFAC Symposium on Control in Transportation Systems CTS'2012 Pages: 274-279
• [Journal Article] An Algorithm for On-line Path Planning of Autonomous Mobile Overhead Traveling Crane Based on Obstacle Information (2012)
  • Author(s): A.Kaneshige, S.Ngai, S.Ueki, T.Miyosi and K.Terashima
  • Journal Title: Proc. of 2012 IEEE International Conference on Automation Science and Engineering (CASE) Volume: (CD-ROM) Pages: 780-785
• [Journal Article] Educational Joint Project Between NCT and TUT in Japan using Tele-Control System (2011)
  • Author(s): Tran Quoc Trung, Takanori Miyoshi, Takashi Imamura, Makoto Honda, Masayuki Okabe, Shinya Oyama, Yuzuru Ohba, Tomoyasu Ichimura, Yoshihito Sawaguchi, YasunoriKawai, Akihiro Kaneshige,Hideo Kitagawa, Masakatsu Kawata, Eiji Nishiyama, Kazuhiko Terashima
  • Journal Title: Proc. of the 18th IFAC World Congress Pages: 5188-5194
• [Journal Article] Object Manipulation Based on Robust and Adaptive Control by Hemispherical Soft Fingertips (2011)
  • Author(s): S. Ueki, H. Kawasaki, T. Mouri, A. Kaneshige
  • Journal Title: Proc. of the 18th IFAC World Congress Pages: 14654-14659
• [Journal Article] Three-Dimensional Obstacle Avoidance Online Path-Planning Method for Autonomous Mobile Overhead Crane (2011)
  • Author(s): S.Ngai, A.Kaneshige and S.Ueki
  • Journal Title: Proc. of the 2011 IEEE International Conference on Mechatronics and Automation Volume: (CD-ROM) Pages: 1497-1502
• [Presentation] 天井クレーンによる液面振動抑制を考慮した液体タンク搬送制御系の設計 (2013)
  • Author(s): 兼重明宏,兼重直樹,上木諭,三好孝典,寺嶋一彦
  • Organizer: 第14回計測自動制御学会システムインテグレーション部門講演会
  • Year and Date: 20131200
• [Presentation] 自律型天井クレーンシステムの開発 (2013)
  • Author(s): 川崎雄大,高木元気,上木諭,兼重明宏
  • Organizer: 第55回自動制御連合講演会講演論文集
  • Year and Date: 20131100
• [Presentation] 天井クレーン遠隔遠隔搬送制御の設計 (2012)
  • Author(s): 加藤浩斗,上木諭,兼重明宏,三好孝典,寺嶋一彦
  • Organizer: 第13回計測自動制御学会システムインテグレーション部門講演会
  • Year and Date: 20121200
• [Presentation] 自律型天井クレーンシステムの開発―オンライン障害物回避経路計画システムの開発― (2012)
  • Author(s): 兼重明宏,永井駿介,上木諭,三好孝典,寺嶋一彦
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: (CD-ROM)
  • Year and Date: 20120500
• [Presentation] 天井クレーンにおけるオンライン経路計画法-第2報経路の妥当性の評価- (2011)
  • Author(s): 永井駿介,兼重明宏,上木諭,寺嶋一彦,三好孝典
  • Organizer: 第12回計測自動制御学会システムインテグレーション部門講演会
  • Year and Date: 20111200
• [Presentation] 天井クレーンの3次元オンライン経路計画 (2011)
  • Author(s): 永井駿介,兼重明宏,上木諭,寺嶋一彦,三好孝典
  • Organizer: 第54回自動制御連合講演会講演論文集
  • Year and Date: 20111100
• [Book] 制御工学 (2012)
  • Author(s): 豊橋技術科学大学・高等専門学校制御工学教育連携プロジェクト
  • Publisher: 実教出版(編修,第8章,第12章執筆担当)