S.-W. Hong, G.-H. Bae, and B.-G. Kim (Korea)
Tower crane, Payload tracking, Input shaping, Imageprocessing, Continuously adaptive mean square algorithm
Tower cranes are widely used for transporting heavy objects in various industries. This paper presented a miniature tower crane that was developed for educational purposes and the associated control methods. The paper described a low-cost web camera and an efficient image processing algorithm based on the continuously adaptive mean shift algorithm. The proposed image-processing algorithm is proved fast enough to track the payload and provide feedback in real time. Several algorithms to stabilize the payload position were presented and demonstrated to show that the developed tower crane and its peripherals are useful for emulating real tower cranes and providing valuable educational experiences.
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