{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/10037"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/10037","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Cargo Pendulation Reduction on Ship-Mounted Cranes","abstract":"It is sometimes necessary to transfer cargo from a large ship to a smaller ship at sea. Specially designed craneships are used for this task, however the wave-induced motions of the ship can cause large pendulations of cargo being hoisted by a ship-mounted crane. This makes cargo transfer in rough seas extremely dangerous and therefore transfer operations normally cease when sea state 3 is reached. If the cargo pendulations could be reduced in higher sea states, transfer operations would be possible. By controlling the boom luff angle, one can reduce the cargo pendulations in the plane of the boom significantly. A two-dimensional pendulum with a rigid massless cable and massive point load is used to model the system. A control law using time-delayed position feedback is developed and the system is simulated on a computer using the full nonlinear equations of motion. A three-degree-of-freedom ship-motion simulation platform, capable of simulating heave, pitch, and roll motions, was built. The computer simulation results were experimentally verified by mounting a 1/24th scale model of a T-ACS crane on the ship-motion simulation platform.","abstract_html":"It is sometimes necessary to transfer cargo from a large ship to a smaller ship at sea. Specially designed craneships are used for this task, however the wave-induced motions of the ship can cause large pendulations of cargo being hoisted by a ship-mounted crane. This makes cargo transfer in rough seas extremely dangerous and therefore transfer operations normally cease when sea state 3 is reached. If the cargo pendulations could be reduced in higher sea states, transfer operations would be possible. By controlling the boom luff angle, one can reduce the cargo pendulations in the plane of the boom significantly. A two-dimensional pendulum with a rigid massless cable and massive point load is used to model the system. A control law using time-delayed position feedback is developed and the system is simulated on a computer using the full nonlinear equations of motion. A three-degree-of-freedom ship-motion simulation platform, capable of simulating heave, pitch, and roll motions, was built. The computer simulation results were experimentally verified by mounting a 1/24th scale model of a T-ACS crane on the ship-motion simulation platform.","abstract_has_math":false,"creators":["Henry, Ryan J."],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Engineering Mechanics","degree_department":"Engineering Mechanics","school":null,"contributors":[],"advisors":[],"committee_chairs":["Nayfeh, Ali H."],"committee_members":["Mook, Dean T.","Hendricks, Scott L."],"year":1997,"date_issued":"1997-05-08","date_published":"1997-05-08","updated_at":"2026-07-22T22:20:03Z","subjects":["crane control","ship-mounted crane","time-delayed feedback"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-070899-145159"],"render_values":[{"text":"etd-070899-145159","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/10037","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Nayfeh, Ali H."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Mook, Dean T.","Hendricks, Scott L."]},{"key":"dc:contributor.department","label":"Department","values":["Engineering Mechanics"]},{"key":"dc:creator","label":"Author","values":["Henry, Ryan J."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2011-08-06T16:02:41Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2011-08-06T16:02:41Z","2000-07-14"]},{"key":"dc:date.issued","label":"Date","values":["1997-05-08"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Engineering Mechanics"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["crane control","ship-mounted crane","time-delayed feedback"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-070899-145159"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/10037"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["It is sometimes necessary to transfer cargo from a large ship to a smaller ship at sea. Specially designed craneships are used for this task, however the wave-induced motions of the ship can cause large pendulations of cargo being hoisted by a ship-mounted crane. This makes cargo transfer in rough seas extremely dangerous and therefore transfer operations normally cease when sea state 3 is reached. If the cargo pendulations could be reduced in higher sea states, transfer operations would be possible. By controlling the boom luff angle, one can reduce the cargo pendulations in the plane of the boom significantly. A two-dimensional pendulum with a rigid massless cable and massive point load is used to model the system. A control law using time-delayed position feedback is developed and the system is simulated on a computer using the full nonlinear equations of motion. A three-degree-of-freedom ship-motion simulation platform, capable of simulating heave, pitch, and roll motions, was built. The computer simulation results were experimentally verified by mounting a 1/24th scale model of a T-ACS crane on the ship-motion simulation platform."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["Cargo Pendulation Reduction on Ship-Mounted Cranes"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Nayfeh, Ali H."],"dc:contributor.committeemember":["Mook, Dean T.","Hendricks, Scott L."],"dc:contributor.department":["Engineering Mechanics"],"dc:creator":["Henry, Ryan J."],"dc:date.accessioned":["2011-08-06T16:02:41Z"],"dc:date.available":["2011-08-06T16:02:41Z","2000-07-14"],"dc:date.issued":["1997-05-08"],"dc:description.abstract":["It is sometimes necessary to transfer cargo from a large ship to a smaller ship at sea. Specially designed craneships are used for this task, however the wave-induced motions of the ship can cause large pendulations of cargo being hoisted by a ship-mounted crane. This makes cargo transfer in rough seas extremely dangerous and therefore transfer operations normally cease when sea state 3 is reached. If the cargo pendulations could be reduced in higher sea states, transfer operations would be possible. By controlling the boom luff angle, one can reduce the cargo pendulations in the plane of the boom significantly. A two-dimensional pendulum with a rigid massless cable and massive point load is used to model the system. A control law using time-delayed position feedback is developed and the system is simulated on a computer using the full nonlinear equations of motion. A three-degree-of-freedom ship-motion simulation platform, capable of simulating heave, pitch, and roll motions, was built. The computer simulation results were experimentally verified by mounting a 1/24th scale model of a T-ACS crane on the ship-motion simulation platform."],"dc:description.degree":["Master of Science"],"dc:format.medium":["ETD"],"dc:identifier.other":["etd-070899-145159"],"dc:identifier.uri":["http://hdl.handle.net/10919/10037"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["crane control","ship-mounted crane","time-delayed feedback"],"dc:title":["Cargo Pendulation Reduction on Ship-Mounted Cranes"],"dc:type":["Thesis"],"thesis:degree_discipline":["Engineering Mechanics"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:20:03Z"}