A method for damping rotational oscillations of a load-handling element of a lifting device is created, wherein at least one controller parameter is determined by a rotational oscillation model of the load-handling element as a function of the lifting height (l.sub.H) and wherein, to damp the rotational oscillation of the load-handling element at any lifting height (l.sub.H), the at least one controller parameter is adapted to the lifting height (l.sub.H).

A system and computer-implemented method is used for operating a crane on an offshore unit on which entities (e.g., personnel and/or equipment) operate. A dimensional map of the unit is created so locations of the entities can be tracked in the dimensional map of the unit. For example, wireless monitoring is received from wireless devices associated with both the entities and the offshore unit to perform the tracking. Dynamic operating parameters of the crane are also obtained while the crane is operating on the unit. These parameters can be received remotely from the crane. A programmable control device calculates a lifting zone that moves dynamically in the dimensional map based on the parameters, detect a conflict of a tracked location interfering with the zone, and outputs the detected conflict for appropriate action.

A system and computer-implemented method is used for operating a crane on an offshore unit on which entities (e.g., personnel and/or equipment) operate. A dimensional map of the unit is created so locations of the entities can be tracked in the dimensional map of the unit. For example, wireless monitoring is received from wireless devices associated with both the entities and the offshore unit to perform the tracking. Dynamic operating parameters of the crane are also obtained while the crane is operating on the unit. These parameters can be received remotely from the crane. A programmable control device calculates a lifting zone that moves dynamically in the dimensional map based on the parameters, detect a conflict of a tracked location interfering with the zone, and outputs the detected conflict for appropriate action.

An STS crane (Ship-to Shore) includes a portal frame structure; a boom which has a portion extending on a ship's side as well as a portion extending on a quay side; a trolley moving along the boom; a hoisting mechanism which has a rope drum for hoisting ropes, whereby the hoisting ropes are routed from the rope drum through boom ends to the trolley; auxiliary trolleys which move along the boom on both sides of the trolley to support and/or tighten the hoisting ropes; and a folding joint on the boom portion extending on the ship's side for folding up the folding portion of the boom extending to the direction of the ship from the folding joint; whereby there are auxiliary trolley rails arranged for the auxiliary trolleys, these auxiliary trolley rails being separate from the trolley rails; and whereby the drive roping of the auxiliary trolleys is divided into two separate and independent drive ropings which have separate and independent drive mechanisms and which are on different sides of the folding joint on the boom.

An STS crane (Ship-to Shore) includes a portal frame structure; a boom which has a portion extending on a ship's side as well as a portion extending on a quay side; a trolley moving along the boom; a hoisting mechanism which has a rope drum for hoisting ropes, whereby the hoisting ropes are routed from the rope drum through boom ends to the trolley; auxiliary trolleys which move along the boom on both sides of the trolley to support and/or tighten the hoisting ropes; and a folding joint on the boom portion extending on the ship's side for folding up the folding portion of the boom extending to the direction of the ship from the folding joint; whereby there are auxiliary trolley rails arranged for the auxiliary trolleys, these auxiliary trolley rails being separate from the trolley rails; and whereby the drive roping of the auxiliary trolleys is divided into two separate and independent drive ropings which have separate and independent drive mechanisms and which are on different sides of the folding joint on the boom.

A stabilizing unit includes a frame assembly including a plurality of frame components movable relative to one another and configured to support a payload, a base support coupling the frame assembly to a movable object, one or more inertial sensors attached to the frame assembly or the payload and configured to collect attitude information of the payload, one or more location sensors attached to the base support or one or more frame components and configured to collect location data, one or more actuators configured to control movement of the frame components, and one or more processors configured to control an attitude of the payload based on corrected attitude data by controlling the one or more actuators. The corrected attitude data is calculated based on the attitude information and a horizontal acceleration of the payload that is determined based on the location data.

A stabilizing unit includes a frame assembly including a plurality of frame components movable relative to one another and configured to support a payload, a base support coupling the frame assembly to a movable object, one or more inertial sensors attached to the frame assembly or the payload and configured to collect attitude information of the payload, one or more location sensors attached to the base support or one or more frame components and configured to collect location data, one or more actuators configured to control movement of the frame components, and one or more processors configured to control an attitude of the payload based on corrected attitude data by controlling the one or more actuators. The corrected attitude data is calculated based on the attitude information and a horizontal acceleration of the payload that is determined based on the location data.

A substrate transfer device includes a housing accommodating a carrier for storing a substrate, a carrier lifter moving the carrier in a vertical direction relative to an upper surface of the housing, a vertical stabilization unit connected to a lower part of the carrier lifter and reducing a vertical vibration of the carrier, a rotation stabilization unit connected to a lower part of the vertical stabilization unit and reducing rotation of the carrier, and a carrier holder connected to a lower part of the rotation stabilization unit. The carrier holder holds the carrier. The vertical stabilization unit includes an upper plate connected to the carrier lifter, a lower plate connected to the rotation stabilization unit, and a buffer disposed between the upper plate and the lower plate. The buffer contracts or relaxes to reduce the vertical vibration of the carrier.

A substrate transfer device includes a housing accommodating a carrier for storing a substrate, a carrier lifter moving the carrier in a vertical direction relative to an upper surface of the housing, a vertical stabilization unit connected to a lower part of the carrier lifter and reducing a vertical vibration of the carrier, a rotation stabilization unit connected to a lower part of the vertical stabilization unit and reducing rotation of the carrier, and a carrier holder connected to a lower part of the rotation stabilization unit. The carrier holder holds the carrier. The vertical stabilization unit includes an upper plate connected to the carrier lifter, a lower plate connected to the rotation stabilization unit, and a buffer disposed between the upper plate and the lower plate. The buffer contracts or relaxes to reduce the vertical vibration of the carrier.

A rope guiding device used in connection with the rope hoist to guide a hoisting rope. The inventive rope guiding device of a rope hoist for guiding a hoisting rope on a rope drum which rope drum may be adapted to rotate in order to wind the hoisting rope around the rope drum or off the rope drum to hoist and lower a load adapted on the hoisting rope, the rope guiding device comprising at least one guiding element to guide the hoisting rope of the rope hoist, and a screw to move said at least one guiding element, is characterized in that wherein the rope guiding device is supported to the body of a trolley of the rope hoist by means of a support arrangement which support arrangement comprises first pivotings and second pivotings adapted to a substantially 90-degree angle in relation to said first pivotings.