Abstract
In a container crane, a spreader is suspended from a trolley to grip and carry a payload. Although the attitude of the spreader is conventionally measured using a CCD camera at the bottom of the trolley, the exact measurement of the primary sway (sway of low frequency) of the trolley is difficult due to the secondary sway (sway of high frequency) of the spreader. This is because the wire suspending the spreader has a non-negligible flexibility, despite of its stranded steely property.
The paper proposes an adaptive sensing system which measures the primary sway accurately using an adaptive learning method of unknown parameters of the system.
