A system for servicing a nuclear reactor module comprises a crane operable to attach to the nuclear reactor module, wherein the crane includes provisions for routing signals from one or more sensors of the nuclear reactor module to one or more sensor receivers.

A full-time anti-sway control method of a bridge crane system based on an inverter structure includes steps of: receiving a specified high frequency and a frequency change time, calculating a time setting range according to a plurality of system parameters and a rope length information of the bridge crane system, selecting a time setting value within the time setting range, dividing the frequency change time into a plurality of time intervals according to the time setting value, adjusting an operation frequency command to change between a low frequency and the specified high frequency within the plurality of time intervals to generate a frequency change curve, calculating a frequency correction amount according to the frequency change curve and the rope length information, and superimposing the frequency change curve and the frequency correction amount to generate an anti-sway frequency command to drive the at least one motor.

This crane is provided with: a operable function unit; an operation unit; an actuator; a generation unit which generates a first control signal for the actuator on the basis of an operation input; a plurality of wire ropes; a plurality of hooks suspended from a leading end section of a boom by the plurality of wire ropes, respectively; a hook detection unit which detects, from among the plurality of hooks, an unused hook suspending no load; a calculation unit which calculates a resonance frequency for a wire rope, among the plurality of wire ropes, that suspends the detected unused hook; a filter unit which generates a filter on the basis of the resonance frequency and generates a second control signal by filtering the first control signal using the filter; and a control unit which controls the actuator on the basis of the second control signal.

Load control apparatuses, systems and methods to control a location, orientation, or rotation of a suspended load by imparting thrust with thrusters. The load control apparatuses, systems and method comprise an on-board power supply, a remote power supply, and a power control module. The power control module may distribute a pulse power to the thrusters from the on-board power supply and or from a combination of the on-board power supply and the remote power supply, may manage power between the on-board power supply and the remote power supply, and may to recharge the on-board power supply with the remote power supply.

The invention relates to a crane, in particular a revolving tower crane or boom crane, having a hoisting cable which extends from a crane boom and carries a load hook, wherein a sling having a load fixed thereto is rigged to the load hook, which load hangs down, spaced apart from the load hook by the sling, and having a determination device for determining the position and/or excursion of the load, and an electronic control apparatus for controlling drive devices for moving crane elements and relocating the load hook according to the detected position and/or excursion of the load, wherein the determination device has first determining means for determining a position and/or excursion of the load hook and furthermore an inertial measurement unit which is attached to the sling and/or the load and which has acceleration and rotation rate sensor means for providing acceleration and rotation rate signals and second determination means for determining and/or estimating an excursion and/or position of the load from the acceleration and rotation rate signals of the inertial measurement unit, which is attached to the sling and/or to the load, and from the signals of the indicated first determination means which characterize the position and/or excursion of the load hook.

Proposed is a transport vehicle including a traveling unit being moved along a first direction, a slide unit being driven for sliding in a second direction vertical to the first direction, a hand unit ascending and descending by a hoist combined with the slide unit and gripping the goods, and a control unit controlling driving of the traveling unit for traveling or driving of the slide unit for sliding, wherein the control unit applies a filter signal to an initial slide control signal for driving for sliding and controls driving of the hand unit for sliding through a drive control signal for sliding to which the filter signal is applied, and the filter signal includes a plurality of impulse signals and an interval between the impulse signals is determined as a value corresponding to a length of the hoist in linear interpolation on pre-stored period values on a per-hoist-length basis.

The present invention relates to an apparatus for controlling a load suspended on a cord, wherein the movable load has a controllable actuator, and a control unit is provided, which is configured to use control commands for controlling the actuator in order to predict a load countermovement to be expected, so as to compensate for and/or prevent the load countermovement by controlling at least one compensating device controlled by the control unit.

The invention relates to an apparatus for launch and recovery a submersible vessel from and to an off-shore site. The apparatus comprises an actively operated gimbal coupled between said first end of the launch/recovery cable and the submersible vessel, when the submersible vessel is suspended by the launch/recovery cable. Both the displacement unit and the winch areoperated by electrical motors during displacement of the displacement unit and during winding of the launch/recovery cable. Electrical power for the electrical motors is provided by batteries of the apparatus.

For optimizing an anti-sway algorithm for the transport of a load by a hoisting appliance spanning a hoisting area and comprising a trolley, a reeving system and a tool handling the load, a control device is able to: create a first table giving angle offsets of the trolley, depending on physical characteristics of the load and on mechanical parameters related to the trolley, the angle offsets being determined by measurements of inclination angles of the trolley, create a second table giving probabilities of a secondary sway of the load depending on physical characteristics of the load, on mechanical parameters related to the reeving system and on measurements of acceleration and angular position of the tool, and transport the load in the hoisting area by using an anti-sway algorithm taking into account the first table and the second table, wherein anti-sway algorithm takes as inputs dynamic parameters of hoisting appliance comprising the current position of the trolley, the load and the current angle of the load with respect to the trolley.

A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.