Please wait, while we are loading the content...
Please wait, while we are loading the content...
| Content Provider | Springer Nature Link |
|---|---|
| Author | Cruz, J. J. Souza, E. J. C. |
| Copyright Year | 2013 |
| Abstract | A new numerical method to obtain a suboptimal solution of the minimum-time anti-swing motion planning problem for cranes based on the use of linear programming is proposed. Both the trolley and the hoisting motions are the problem unknowns. A classical kinematical nonlinear model for which the trolley acceleration and the hoisting speed are the control variables is used. The crane motion equations are discretized in time assuming that the control variables are piecewise constant. Inequality constraints on state and control variables are included in order to represent physical bounds associated to the electromechanical driving system. Equality constraints are added in to represent the requirement that both the load and the trolley be at rest at the end points of the trolley path. The proposed algorithm consists in the repetition of two steps: (i) an approximation of the hoisting motion is fixed and a corresponding suboptimal trolley motion is computed; (ii) first-order corrections on both the hoisting and the trolley motions are computed based on a linearized model of the system. In spite of the nonlinear dynamics, both steps are reduced to solving Linear Programming problems. A convergence proof of the algorithm is presented. The ease of both the formulation and the solution of the problem contrasts with the traditional two-point boundary value problem associated to the Pontryagin’s minimum principle. |
| Starting Page | 206 |
| Ending Page | 215 |
| Page Count | 10 |
| File Format | |
| ISSN | 21953880 |
| Journal | Journal of Control, Automation and Electrical Systems |
| Volume Number | 25 |
| Issue Number | 2 |
| e-ISSN | 21953899 |
| Language | English |
| Publisher | Springer US |
| Publisher Date | 2013-12-25 |
| Publisher Place | Boston |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Motion planning Control Control, Robotics, Mechatronics Linear programming Minimum-time control Anti-swing control Crane control Electrical Engineering Robotics and Automation |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Systems Engineering Energy Engineering and Power Technology Electrical and Electronic Engineering Computer Science Applications |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|