Towards automatic container handling cranes

This paper describes the design and implementation of a semi-autonomous, and ultimately fully autonomous, container quay-crane. The new crane is based on a novel reeving arrangement which allows both fast and accurate gross motion as well as fine micropositioning. The paper describes the essential theory behind this design and presents experimental results from a 1/15th scale model. The proposed instrumentation of this crane is also briefly described as are key elements of the operator interface.