It is provided a container crane including: a spreader configured to controllably attach to a container; a container trolley to which the spreader is attached via cables, the container trolley being provided on an upper part of the container crane and being horizontally movable along a first direction; a first sensor arrangement mounted on the container trolley, the first sensor arrangement being usable to determine a position of the container; a second sensor arrangement being usable to determine a position of a target; and at least one reference marker provided fixed, in at least two dimensions, to a horizontal support provided along the first direction between vertical structures of the container crane, the at least one reference marker being provided vertically lower than the first sensor arrangement and the at least one reference marker being detectable by the first sensor arrangement.

Load control apparatuses, systems and methods to control a location, orientation, or rotation of a suspended load by imparting thrust vectors to the suspended load or to a structure that holds the load. The load control apparatuses, systems and method may be integrated into a structure that holds a load, such as a rescue litter. The load control apparatuses, systems, and methods may be modular. The modular load control apparatuses, systems, and methods may be secured to a load or to a structure that holds the load.

Load control apparatuses, systems and methods to control a location, orientation, or rotation of a suspended load by imparting thrust vectors to the suspended load or to a structure that holds the load. The load control apparatuses, systems and method may be integrated into a structure that holds a load, such as a rescue litter. The load control apparatuses, systems, and methods may be modular. The modular load control apparatuses, systems, and methods may be secured to a load or to a structure that holds the load.

A lifting tool used during lifting and mounting of a rotor blade on a rotor hub of the wind turbine which facilitates repositioning of the crane's main wire. Thus, a lifting bracket, having an elongated element with a first through-going outlet configured to take up a part of a first link, which is connected with the main wire, and a second through-going outlet configured with a spherical bearing to take up a part of a second link on the load, and wherein the elongated element adjacent to the spherical bearing is provided with a measuring instrument with a signal transmitter for registering the angle between the lifting wire and the vertical direction, wherein the signal transmitter is configured to transmit a signal containing measurements for visualization on an external unit with a screen placed at the crane operator and/or near the crane supervisor.

A system for controlling a tension of a tether between an object and a load tethered to the object comprises magnetorheological (MR) fluid actuator unit(s) including at least one torque source and at least one MR fluid clutch apparatus coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of torque via an output of the MR fluid actuator unit. A tensioning member is connected to the output so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action when being pulled by the output member. Sensor(s) provide information indicative of a relation between the object and the load tethered to the object. A controller controls the at least one MR fluid clutch apparatus in exerting the pulling action based on said information.

A method for controlling a boom of a crane includes saving, in a memory, data representing a maximum horizontal working distance for a load on a hook of a boom, saving, in the memory, boom data representing the position of the boom, calculating a minimum vector between the position of the hook and the maximum horizontal working distance, and controlling, by the computing device, movement of the boom to prevent the vector from reaching a zero magnitude.

In order to eliminate control problems caused by a manipulated variable limitation in the oscillation control of an oscillatable technical system, a restriction

[00001]$\left(\frac{d^n.Math.u}{{{\mathrm{dt}}^n.Math.}_{m.Math..Math.i.Math..Math.n}},\frac{d^n.Math.u}{{{\mathrm{dt}}^n.Math.}_{m.Math..Math.\mathrm{ax}}}\right)$

of at least one time derivative of the manipulated variable (u) in a control law for calculating the manipulated variable (u) is taken into account.

Provided is an offshore wind turbine installation arrangement, including a lifting assembly realized to hoist a suspended load between a floating installation vessel and a wind turbine assembly, the lifting assembly including a crane supported by the floating installation vessel; a sensor arrangement realized to sense at least a motion of the floating installation vessel; and a controller realized to control elements of the lifting assembly on the basis of the sensed installation vessel motion to adjust the position of the suspended load relative to the wind turbine assembly. Also provided is a method of hoisting a load between a floating installation vessel and an offshore wind turbine assembly.

The present disclosure provides an intelligent port control system and related systems and apparatuses, capable of achieving fully automated ship loading and unloading. The intelligent port control system includes: a scheduling center system configured to determine a ship loading plan based on ship information, container information, and shore crane apparatus information, and generate a ship berthing task, a ship loading task, and a container distribution task based on the ship loading plan, for transmitting to a ship control system of a target ship, a shore crane control system of a target shore crane apparatus, and a warehouse management system of a warehouse center, respectively; the ship control system configured to control the target ship to move to an operation area corresponding to the target shore crane apparatus; the shore crane control system configured to control the target shore crane apparatus to load a container on a transportation vehicle onto the target ship; the warehouse management system configured to assign a warehouse hoisting apparatus to hoist a target container in the container distribution task onto the transportation vehicle; and a vehicle control system configured to control the transportation vehicle to move to a container loading location for loading the container, and to control the transportation vehicle to move to a container unloading location for unloading the container.

A surveying instrument comprises a distance measuring module configured to perform a distance measurement of an objects to be measured, an optical axis deflector which is provided on a distance measuring optical axis and enables to two-dimensionally deflect the distance measuring optical axis, an arithmetic control module configured to control a deflecting action of the optical axis deflector and a distance measuring action of the distance measuring module, and a display module configured to display calculation results by the arithmetic control module, and wherein the arithmetic control module is configured to scan at least one plane of the objects to be measured in a predetermined scan pattern in at least one cycle by the optical axis deflector, to calculate parameters of the plane based on a measurement result of point cloud data acquired along a locus of a scan, and to display the calculated parameters on the display module.