A comprehensive study on berth and quay crane scheduling problems at container terminals at seaports is provided. Problems related to both multi-user terminals, where the terminal operator and liner carriers are different parties, and dedicated terminals, where liner carriers lease the terminal, are considered. A lower bound and an effective meta-heuristic algorithm are proposed for a dynamic variant of the Berth Allocation Problem (BAP). The Multiple Berth Allocation Problem (MBAP) is also introduced. Different crane scheduling methods used by terminal operators are analyzed and a tabu search algorithm is designed for a new variant of the Quay Crane Scheduling Problem (QCSP). The Simultaneous Berth and Quay Crane Scheduling Problem (BQCSP) is introduced with a lower bound analysis and an efficient solution method. A computational analysis is performed which exposes the substantial benefit of simultaneous planning over the hierarchical approach currently used by terminal operators. The tactical level Voyage and Berth Scheduling Problem (VBSP) is defined and a mathematical model based on multi-commodity network flow is presented. Constraints related to transshipments, terminal time windows and service level requirements are incorporated into the model, and how to modify instance data to increase schedule reliability is discussed.

Thesis (MA)--Stellenbosch University, 2004. / ENGLISH ABSTRACT: This study addresses the problem of Blue Crane (Anthropoides paradiseus) collisions with power lines in the Overberg region, home to approximately 50% of South Africa's national bird's global population. The low visibility of power lines against the landscape is considered to be the major cause of collisions. These claim at least 20 birds annually, which is a considerable loss to a vulnerable species. For this study, expert knowledge of the Blue Cranes' biology, general behaviour and use of its habitat were compiled. These were then translated into rules that were integrated into a Geographic Information System (GIS) to establish a predictive model, which attempts to identify and quantify risk power lines that Blue Cranes are most likely to collide with. The criteria that were considered included landscape proximity of power lines to water bodies arid congregation sites, land cover, power lines orientation in relation to predominant wind directions (North Westerly and South Easterly) and visibility of the power lines against the landscape. The power lines were ranked as highest, high, medium, low and no risk. It is recommended that this classification be used to prioritize the proactive marking of power lines with bird flappers in order to reduce collisions. The results show that 27% of the power lines in the study area pose the highest risk and should therefore be marked immediately. The power lines classified as high (1%), medium (28%) and low risk (21 %) should be marked over short, medium and long term, respectively .. The study demonstrated the potential of GIS in the conservation of Blue Crane. The GIS model developed in this study can be applied in areas of similar habitat such as the Swartland or with some modifications in a slightly different habitat such as the Karoo. It is envisaged that the results of this study will be of great value to the ESKOM (South African Electricity Commission) and Endangered Wildlife Trust (EWT) Partnership and conservation authorities in the effort to save the Blue Crane. / AFRIKAANSE OPSOMMING: Hierdie studie het die probleem van botsings deur Bloukraanvoëls met kraglyne in die Overberg-omgewing van die Wes-Kaap ondersoek. Die Overberg-omgewing huisves ongeveer 50% van Suid Afrikaanse nasionale voël se wêreldbevolking van Bloukraanvoëls, en aangesien kraglyne normaalweg nie maklik sigbaar is teen die landskapsagtergrond nie, verhoog dit, tesame met die biologiese eienskappe van Bloukraanvoëls, die waarskynlikheid dat die voëls met kraglyne sal bots. Hierdie botsings met kraglyne eis minstens 20 Bloukraanvoëls per jaar, wat 'n aansienlike en beduidende aantal vir 'n kritiese bedreigde spesie is. Die studie het gepoog om spesialiskennis oor Bloukraanvoël-biologie, algemene gedrag en habitatgebruik, om te sit in 'n stel reëls, wat in 'n Geografiese Inligtingstelsel (GIS) geïntegreer is om 'n voorspellingsmodel te bou. Hierdie voorspellingsmodel is aangewend om kraglyne wat 'n hoë risiko vir Bloukraanvoëls inhou, te identifiseer en die waarskynlikheid vir botsings te kwantifiseer. Die model aanvaar dat die volgende omgewingsfaktore in die Overberg-omgewing verband hou met die waarskynlikheid van botsings, naamlik: die nabyheid van kraglyne aan waterliggame of gebiede waar voëls saamtrek, die voorkoms van natuurlike veld, die heersende windrigtings (Noordwes en Noordoos) en lae sigbaarheid van kraglyne teen die donker landskapsagtergrond. Die geïdentifiseerde kraglyne is as eerste-, tweede, derde. en vierderangse prioriteit geprioritiseer om as riglyn te dien vir die proaktiewe aanbring van flappers (wat dit ten doel het om voëlbotsings te verminder) deur ESKOM. Die studie het bevind dat 27% van die kraglyne in die Overberg-omgewing eersterang prioriteite is, en dat hierdie kraglyne onmiddellik gemerk sal moet word. Die tweederang prioriteit kraglyne (1%) saloor die mediumtermyn gemerk word, terwyl die derderangse prioriteit kraglyne (28%) oor die langtermyn gemerk sal word. Die vierde prioriteit kraglyne (21 %) kon oor die langertermyn gemerk word. Die studie het die omvang van die probleem, sowel as die rol van GIS in die bewaring van die Bloukraanvoëls beklemtoon. Die GIS-model wat in die studie ontwikkel en gebruik is, kan in soortgelyke gebiede soos die Swartland, of in ietwat verskillende omgewings soos die Karoo getoets word, met die doelom die habitatvoorkeure van Bloukraanvoëls beter te verstaan en navorsers te help om 'n beter begrip van die model te ontwikkel en sodoende die resultate te verbeter. Dit word voorsien dat hierdie studie en verslag baie belangrik sal wees vir die ESKOM-EWT Vennootskap en ander betrokke bewaringsorganisasies in 'n poging om Bloukraanvoël-bewaring aan te help.

Les grues à tour sont des engins de levage utilisés de manière cyclique sur les chantiers de construction. De ce fait, la prise en compte du phénomène de fatigue dans le dimensionnement des charpentes de grue est primordiale. La fatigue est usuellement considérée dans les normes au moyen de règles déterministes ayant pour but de garantir l’intégrité de la structure sous diverses conditions d’utilisation. Bien que cette approche fournisse des résultats satisfaisants dans la plupart des cas, celle-ci ne permet pas d’évaluer le niveau de fiabilité des éléments de charpente en fonction de leur durée d’exploitation. De ce point de vue, les approches probabilistes permettent de pallier cette difficulté en proposant des outils pertinents servant à caractériser et à propager les incertitudes liées à la fatigue au travers d’un modèle mécanique. Une approche probabiliste originale permettant la prise en compte des incertitudes liées à la fatigue dans le dimensionnement des charpentes de grues à tour est proposée dans ce manuscrit. La méthode proposée est basée sur la définition de deux densités de probabilité représentant respectivement les variabilités liées à la résistance des joints soudés d’une part, et les nombreuses dispersions associées à la sollicitation des éléments de charpente d’autre part. La définition de la densité de probabilité de résistance repose sur la capitalisation d’un grand nombre de résultats d’essais d’endurance sur structures soudées, tandis que la définition de la distribution de sollicitation est basée sur une modélisation à deux niveaux tenant compte de divers jeux de données collectés sur chantier. Les résultats de l’analyse de fiabilité présentée dans ce manuscrit démontrent la pertinence des approches probabilistes dans le cadre du dimensionnement en fatigue des éléments de charpente de grue à tour. / Tower cranes are lifting appliances which are cyclically used on construction sites. Thus, the consideration of the fatigue phenomenon in the design of crane structural members is essential. This phenomenon is usually taken into account in standards by means of deterministic rules enabling to ensure structural safety under various operating conditions. Although it provides satisfactory results in most cases, the deterministic approach do not enable to evaluate the reliability of crane structural members according to their operating time. From this point of view, probabilistic approaches allow to overcome this difficulty by proposing relevant tools enabling to characterize and propagate uncertainties related to fatigue through a mechanical model. An original probabilistic approach enabling the consideration of the uncertainties related to crane members fatigue design is proposed in this manuscript. It relies on the definition of two probability density functions related respectively to the strength variability of crane welded joints on one hand, and the dispersion of operating conditions (stress) on this other hand. The definition of the strength distribution stems from the capitalization of various welded joint fatigue test results, while the characterization of the stress distribution relies on the analysis of various data sets coming from crane monitoring performed on different construction sites. The results coming from the reliability analysis presented in this manuscript show the relevance of probabilistic approaches in the frame of tower crane structural members fatigue design.

This diploma thesis focuses on the construction of a construction technological project for the construction of the Central Charging Station in Púchov. The building is located in the industrial area of Púchov and in the area of Continental Matador Rubber. In the thesis is elaborated technical report for building technological project, co-ordination situation of construction with wider transport routes, time and financial object plan, study of the realization of the main technological stages, construction site design, design of main building machines and mechanisms, time schedule of main building, securing material resources for the monolithic part of the building. In the thesis are made, technological rules for drilled pilots and ceiling structure above the first overground floor. Technological regulations follow control and test plans. Other assignments that have been made in this work, such as the occupational safety and health plan, the design and comparison of cranes and the item budget.

El presente estudio tiene como finalidad encontrar la zona crítica de diseño en naves industriales que combinen la premisa de diferentes alturas libres con la ubicación de distintas capacidades de carga de un puente grúa. Se propuso un total de nueve modelos simétricos en planta con una disposición de pórticos a dos aguas. El sistema estructural contempla pórticos a momento y pórticos arriostrados. El recorrido del puente grúa de manera longitudinal y transversal determinó entre 10 a 90 ubicaciones donde la carga del puente grúa está concentrada para el análisis. Las cargas contempladas para el análisis y diseño fueron las producidas por carga muerta, carga viva, viento y sismo. Para el diseño de los elementos de las naves industriales se ha considerado la Norma E.090 del Reglamento Nacional de Edificaciones y como complemento se ha utilizado las normas: ASCE y AISC. El diseño de los elementos estructurales se basó en el método LRFD. El resultado de la investigación encontró una zona crítica de diseño en los márgenes izquierdo y derecho de cada modelo. Los valores de ambos márgenes correspondientes a la capacidad de carga del puente grúa son iguales en cada una de sus posiciones simétricas. Se comprobó que en la zona crítica existe una única ubicación que genera los máximos desempeños en los elementos de las naves industriales. Se determinó los ratios de costo de los perfiles de las naves industriales; los cuales, varían entre 51 y 190 dólares por metro cuadrado. / The purpose of this study is to find the critical design area in industrial buildings that combine the premise of different free heights with the location of different load capacities of an overhead crane. A total of nine symmetrical models were proposed in plan with a gabled portico arrangement. The structural system includes frames at the moment and braced frames. The span of the overhead crane longitudinally and transversely determined between 10 to 90 locations where the overhead crane load is concentrated for the analysis. The loads considered for the analysis and design were those produced by dead load, live load, wind and earthquake. For the design of the elements of the industrial buildings, Standard E.090 of the National Building Regulations has been considered and as a complement the following standards have been used: ASCE and AISC. The design of the structural elements was based on the LRFD method. The result of the investigation found a critical design zone on the left and right margins of each model. The values ​​of both margins corresponding to the load capacity of the overhead crane are equal in each of their symmetrical positions. It was found that in the critical zone there is a single location that generates the maximum performances in the elements of the industrial buildings. The cost ratios of the profiles of the industrial buildings were determined; which, vary between 51 and 190 dollars per square meter. / Tesis

A helicopter can be used to transport a load hanging from a suspension cable. This technique is frequently used in construction, firefighting, and disaster relief operations, among other applications. Unfortunately, the suspended load swings, which makes load positioning difficult and can degrade control of the helicopter. This dissertation investigates the use of input shaping (a command-filtering technique for reducing vibration) to mitigate the load swing problem. The investigation is conducted using two different, but complementary, approaches. One approach studies manual tracking tasks, where a human attempts to make a cursor follow an unpredictably moving target. The second approach studies horizontal repositioning maneuvers on small-scale helicopter systems, including a novel testbed that limits the helicopter and suspended load to move in a vertical plane. Both approaches are used to study how input shaping affects control of a flexible element (the suspended load) and a driven base (the helicopter). In manual tracking experiments, conventional input shapers somewhat degraded control of the driven base but greatly improved control of the flexible element. New input shapers were designed to improve load control without negatively affecting base control. A method for adjusting the vibration-limiting aggressiveness of any input shaper between unshaped and fully shaped was also developed. Next, horizontal repositioning maneuvers were performed on the helicopter testbed using a human-pilot-like feedback controller from the literature, with parameter values scaled to match the fast dynamics of the model helicopter. It was found that some input shapers reduced settling time and peak load swing when applied to Attitude Command or Translational Rate Command response types. When the load was used as a position reference instead of the helicopter, the system was unstable without input shaping, and adding input shaping to a Translational Rate Command was able to stabilize the load-positioning system. These results show the potential to improve the safety and efficiency of helicopter suspended load operations.

Transportation and installation of offshore wind turbines (Tower, Nacelle and Rotor) is a complete process conducted over several phases, usually in sequence. There are several factors that can turn this process into a challenge. These factors can either be due to offshore site conditions or the technical limitations of the installation vessels. Each project has its own characteristic parameters and requires a unique optimum solution. This paper identifies the dynamics of the installation process and analyzes the effects of each phase on the progression of events.The challenges in wind turbine installations due to offshore environment were investigated, the effects of each were explained and their significances were stressed. Special installation vessels were examined and their technical specifications were analyzed in terms of working conditions, dimensions, service performances, and crane capacities as well as projecting future design trends. Several offshore wind farm projects were analyzed; their installation methods were specified, and compared to each other to determine advantages and disadvantages of different pre-assembly concepts. The durations of the sub-phases of the process were defined in terms of different variables such as site conditions and individual vessel performance. These definitions were used for making time estimations, and conducting further analyses regarding the effects of different site specific parameters on the overall project duration.In conclusion, this study considered the main operation parameters in an offshore wind turbine installation context: the benefits and drawbacks of different pre-assembly methods were researched and evaluated resulting in new knowledge and a productive contribution for optimizing “the offshore turbine transportation and installation process”, based on actual time usage.

Forests represent one of the biggest terrestrial ecosystems of Earth, that can produce important raw renewable materials such as wood with the help of sun, air and water. To efficiently extract these raw materials, the tree harvesting process is highly mechanized in developed countries, meaning that advanced forestry machines are continuously used to fell, to process and to transport the logs and biomass obtained from the forests. However, working with these machines is demanding both mentally and physically, which are known factors to negatively affect operator productivity. Mental fatigue is mostly due to the manual operation of the on-board knuckleboom crane, which requires advanced cognitive work with two joystick levers, while the most serious physical strains arise from cabin vibrations. These vibrations are generated from knuckleboom crane vibrations as a result of aggressive manual operation. To enhance operator workload, well-being, and to increase productivity of the logging process, semi-automation functions are suggested, which are supervised automatic executions of specific work elements. Some of the related issues are addressed in the current thesis. Therefore, the content is divided into: (1) the design and development of a semi-automation function focused only on the base joint actuator (slewing actuator) of a knuckleboom crane, and (2) active vibration damping solutions to treat crane structure vibrations induced by the main lift cylinder (inner boom actuator). The considered reference machine is a downsized knuckleboom crane of a forwarder machine, which is used to pick up log assortments from a harvesting site. The proposed semi-automation function presented in the first part could be beneficial for operators to use during log loading/unloading scenarios. It consists from a closed-loop position control architecture, to which smooth reference slewing trajectories are provided by a trajectory planner that is automated via operator commands. The used trajectory generation algorithms are taken from conventional robotics and adapted to semi-automation context with proposed modifications that can be customizable by operators. Further, the proposed active vibration damping solutions are aimed to reduce vibrations of the knuckleboom crane excited by the inner boom actuator due to aggressive manual commands. First, a popular input shaping control technique combined with a practical switching logic was investigated to deal with the excited payload oscillations. This technique proved to be useful with a fixed crane pose, however it did not provide much robustness in terms of different link configurations. To tackle this problem an H2-optimal controller is developed, which is active in the pressure feedback-loop and its solely purpose is to damp the same payload oscillations. During the design process, operator commands are treated and explained from input disturbance viewpoint. All of the hypothesis throughout this thesis were verified with extensive experimental studies using the reference machine.

This master´s thesis solves the construction technological project of Pharmacy Pavilon II at the Veterinary University in Brno. It consists of parts of the project site equipment, technical reports, schedule of the main building, the control and test plan, design, an inventory of machines, financial plan of organization development, a register of environmental aspects, technological regulations and the plan for securing material resources.

Les ponts roulants sont des engins de levage situés en haut des bâtiments qu'ils équipent. Ils servent à manutentionner des charges très lourdes et parfois critiques. Pendant un séisme, un pont roulant est exposé à des chocs multiples. Ces impacts peuvent causer des dommages importants dans la structure pouvant conduire à une chute de la charge manutentionnée ou du pont roulant lui-même. Donc, la vérification de la tenue des ponts roulants au séisme est une question primordiale. Actuellement, cette vérification est basée sur des méthodes de calcul statiques. Ces méthodes font l'hypothèse d'un comportement purement linéaire des ponts roulants ce qui les rend très conservatives. Depuis quelques années les niveaux sismiques imposés par les autorités nationales augmentent chaque année, et les constructeurs de ponts roulants se trouvent dans l'incapacité de construire à partir des efforts sur-estimés fournis par les méthodes statiques. L'objectif de la thèse est l'étude de la réponse dynamique d'un pont roulant pendant un séisme en prenant en compte les non-linéarités géométriques et matériau. Afin de modéliser ces phénomènes, une analyse dynamique temporelle avec une approche multi-échelle en temps est adoptée. Pour prendre en compte l'aspect haute fréquence des chocs, un intégrateur temporel variationnel explicite, basé sur la méthode des multiplicateurs de Lagrange et dédié au contact/impact, est développé. Ensuite, un intégrateur hétérogène (différents schémas d'intégration) asynchrone (différents pas de temps), basé sur la méthode de couplage GC, est appliqué au problème du pont roulant. Cette stratégie multi-échelle en temps permet d'adapter le schéma d'intégration et le pas de temps au sous domaine considéré. Par conséquent, l'intégrateur explicite est adopté dans les zones de contact et un schéma implicite de type accélération moyenne, est adopté dans le reste de la structure. Finalement, un démonstrateur de co-simulation entre les logiciels Cast3M et Europlexus est mis en place pour montrer le gain très significatif en temps de calcul dans le cas d'un modèle élément finis tridimensionnel d'un pont roulant industriel. / Bridge cranes are hoisting appliances located overhead in buildings. They are used to handle very heavy and sometimes critical loads. During an earthquake, a bridge crane may be subjected to multiple impacts between wheels and rails. These impacts can cause significant damage to the structure leading to a fall of the handled load or the bridge crane itself. Therefore, the qualification of such equipment, subjected to an earthquake, is very important. Currently, this qualification is based on static methods. These methods assume a purely linear behavior of the bridge cranes, which leads to a very conservative forces. Consequently, the bridge cranes manufacturers are sometimes unable to design the equipement from the over-estimated efforts provided by the static methods. The aim of this work is to study the dynamic response of a bridge crane during an earthquake by taking into account the geometric and material non-linearities. In order to model such phenomena, a time-history dynamic analysis with a multi-scale approach is performed. To take into account the high frequency aspect of the impacts between wheels and rails, a Lagrange explicit contact/impact time integrator is proposed. This work has also led to the development of an explicit–implicit HATI (Heterogeneous Asynchronous Time Integrator) for contact/impact dynamics. This method allows us to adopt an explicit contact/impact time integrator in the contact area and an implicit time integrator with a coarse mesh in the rest of the domain. Finally, a co-simulation demonstrator between Cast3M and Europlexus softwares is set up to show the very significant gain in computation time for a three-dimensional finite element model of an industrial bridge crane.