{"id":"https://openalex.org/W4387914274","doi":"https://doi.org/10.1109/codit58514.2023.10284372","title":"Real-Time Modification of a Spline-Based Time-Optimal Motion Trajectory with Load-Sway Reduction for Rotary Cranes","display_name":"Real-Time Modification of a Spline-Based Time-Optimal Motion Trajectory with Load-Sway Reduction for Rotary Cranes","publication_year":2023,"publication_date":"2023-07-03","ids":{"openalex":"https://openalex.org/W4387914274","doi":"https://doi.org/10.1109/codit58514.2023.10284372"},"language":"en","primary_location":{"id":"doi:10.1109/codit58514.2023.10284372","doi":"https://doi.org/10.1109/codit58514.2023.10284372","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/codit58514.2023.10284372","pdf_url":null,"source":{"id":"https://openalex.org/S4363607900","display_name":"International Conference on Control, Decision and Information Technologies (CoDIT)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075485974","display_name":"Min Set Paing","orcid":"https://orcid.org/0000-0002-3729-0289","observed_orcids":["https://orcid.org/0000-0002-3729-0289"]},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Min Set Paing","raw_affiliation_strings":["Toyohashi University of Technology,Min Set Paing is a postdoctoral research fellowship and Naoki Uchiyama is a professor in the Department of Mechanical Engineering,Toyohashi,Japan,441-8580"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyohashi University of Technology,Min Set Paing is a postdoctoral research fellowship and Naoki Uchiyama is a professor in the Department of Mechanical Engineering,Toyohashi,Japan,441-8580","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011359174","display_name":"Abdallah Farrage","orcid":"https://orcid.org/0000-0002-5144-5881","observed_orcids":["https://orcid.org/0000-0002-5144-5881"]},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]},{"id":"https://openalex.org/I91041137","display_name":"Assiut University","ror":"https://ror.org/01jaj8n65","country_code":"EG","type":"education","lineage":["https://openalex.org/I91041137"]}],"countries":["EG","JP"],"is_corresponding":false,"raw_author_name":"Abdallah Farrage","raw_affiliation_strings":["Toyohashi University of Technology,Min Set Paing is a postdoctoral research fellowship and Naoki Uchiyama is a professor in the Department of Mechanical Engineering,Toyohashi,Japan,441-8580","Abdallach Farrage is an assistant lecturer in the Department of Mecha-tronics Engineering, Faculty of Engineering, Assiut University, Assiut, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyohashi University of Technology,Min Set Paing is a postdoctoral research fellowship and Naoki Uchiyama is a professor in the Department of Mechanical Engineering,Toyohashi,Japan,441-8580","institution_ids":["https://openalex.org/I136259955"]},{"raw_affiliation_string":"Abdallach Farrage is an assistant lecturer in the Department of Mecha-tronics Engineering, Faculty of Engineering, Assiut University, Assiut, Egypt","institution_ids":["https://openalex.org/I91041137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093120711","display_name":"Nur Azizah Amir","orcid":"https://orcid.org/0009-0008-5929-9533","observed_orcids":["https://orcid.org/0009-0008-5929-9533"]},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nur Azizah Amir","raw_affiliation_strings":["Toyohashi University of Technology,Min Set Paing is a postdoctoral research fellowship and Naoki Uchiyama is a professor in the Department of Mechanical Engineering,Toyohashi,Japan,441-8580"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyohashi University of Technology,Min Set Paing is a postdoctoral research fellowship and Naoki Uchiyama is a professor in the Department of Mechanical Engineering,Toyohashi,Japan,441-8580","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038620938","display_name":"Hideki Takahashi","orcid":"https://orcid.org/0000-0001-8221-8561","observed_orcids":["https://orcid.org/0000-0001-8221-8561"]},"institutions":[{"id":"https://openalex.org/I4210146650","display_name":"Kobelco Construction Machinery (Japan)","ror":"https://ror.org/04a307s36","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210146650"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hideki Takahashi","raw_affiliation_strings":["Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161","institution_ids":["https://openalex.org/I4210146650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050557510","display_name":"Kenichi Terauchi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210146650","display_name":"Kobelco Construction Machinery (Japan)","ror":"https://ror.org/04a307s36","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210146650"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenichi Terauchi","raw_affiliation_strings":["Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161","institution_ids":["https://openalex.org/I4210146650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040938296","display_name":"Shintaro Sasai","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210146650","display_name":"Kobelco Construction Machinery (Japan)","ror":"https://ror.org/04a307s36","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210146650"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shintaro Sasai","raw_affiliation_strings":["Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161","institution_ids":["https://openalex.org/I4210146650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063281880","display_name":"Hitoshi Sakurai","orcid":"https://orcid.org/0000-0002-5399-7946","observed_orcids":["https://orcid.org/0000-0002-5399-7946"]},"institutions":[{"id":"https://openalex.org/I4210146650","display_name":"Kobelco Construction Machinery (Japan)","ror":"https://ror.org/04a307s36","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210146650"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hitoshi Sakurai","raw_affiliation_strings":["Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161","institution_ids":["https://openalex.org/I4210146650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033669455","display_name":"Masaki Okubo","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210146650","display_name":"Kobelco Construction Machinery (Japan)","ror":"https://ror.org/04a307s36","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210146650"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Okubo","raw_affiliation_strings":["Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Members in Kobelco Construction Machinery Co. Ltd.,Hiroshima,Japan,731\u20135161","institution_ids":["https://openalex.org/I4210146650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062939314","display_name":"Naoki Uchiyama","orcid":"https://orcid.org/0000-0003-3642-9944","observed_orcids":["https://orcid.org/0000-0003-3642-9944"]},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Uchiyama","raw_affiliation_strings":["Toyohashi University of Technology,Min Set Paing is a postdoctoral research fellowship and Naoki Uchiyama is a professor in the Department of Mechanical Engineering,Toyohashi,Japan,441-8580"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyohashi University of Technology,Min Set Paing is a postdoctoral research fellowship and Naoki Uchiyama is a professor in the Department of Mechanical Engineering,Toyohashi,Japan,441-8580","institution_ids":["https://openalex.org/I136259955"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3709,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.41159257,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"50","issue":null,"first_page":"1005","last_page":"1010"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.00039999998989515007,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rotary-crane","display_name":"rotary crane","score":0.9750000238418579},{"id":"https://openalex.org/keywords/load-sway-suppression","display_name":"load sway suppression","score":0.7509999871253967},{"id":"https://openalex.org/keywords/time-optimal-trajectory","display_name":"time-optimal trajectory","score":0.8320000171661377},{"id":"https://openalex.org/keywords/cubic-b-splines","display_name":"cubic B-splines","score":0.9279999732971191},{"id":"https://openalex.org/keywords/trajectory-modification","display_name":"trajectory modification","score":0.6899999976158142},{"id":"https://openalex.org/keywords/scale-factor","display_name":"scale factor","score":0.777999997138977},{"id":"https://openalex.org/keywords/point-to-point-motion","display_name":"point-to-point motion","score":0.8090000152587891},{"id":"https://openalex.org/keywords/kinematic-and-dynamic-constraints","display_name":"kinematic and dynamic constraints","score":0.7670000195503235},{"id":"https://openalex.org/keywords/crane-motion-control","display_name":"crane motion control","score":0.6800000071525574}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8425367474555969},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7218385934829712},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6961641311645508},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.669776439666748},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.6396676898002625},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5886873006820679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5673219561576843},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.5314834117889404},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.47127434611320496},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.47067198157310486},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.44734877347946167},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35091543197631836},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3277927041053772},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21481093764305115},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1663593351840973},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13680759072303772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09834980964660645},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit58514.2023.10284372","doi":"https://doi.org/10.1109/codit58514.2023.10284372","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/codit58514.2023.10284372","pdf_url":null,"source":{"id":"https://openalex.org/S4363607900","display_name":"International Conference on Control, Decision and Information Technologies (CoDIT)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.4943999946117401}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1988482379","https://openalex.org/W2011259211","https://openalex.org/W2089745805","https://openalex.org/W2093779246","https://openalex.org/W2225813005","https://openalex.org/W2599381599","https://openalex.org/W2766698351","https://openalex.org/W2912745629","https://openalex.org/W3154835360","https://openalex.org/W3210858625","https://openalex.org/W4283264125","https://openalex.org/W4312503134"],"related_works":["https://openalex.org/W4400946231","https://openalex.org/W3210858625","https://openalex.org/W4410284301","https://openalex.org/W4312503134","https://openalex.org/W4409495002","https://openalex.org/W7154017703","https://openalex.org/W4385470930","https://openalex.org/W2165576602","https://openalex.org/W4399374749","https://openalex.org/W4411529888"],"abstract_inverted_index":{"Optimal":[0],"trajectory":[1,76],"generation":[2],"of":[3,11,49,116],"the":[4,15,27,35,38,45,50,53,60,65,73,90,114,117],"large":[5],"rotary":[6],"cranes":[7],"under":[8],"a":[9,21,93],"variety":[10],"constraints":[12,58],"to":[13,88],"suppress":[14],"two-dimensional":[16],"load":[17,69],"sway":[18],"is":[19,30,42,120],"generally":[20],"complex":[22],"problem.":[23],"In":[24,81],"this":[25,82],"paper,":[26],"cubic":[28],"B-spline":[29],"used":[31,87],"for":[32,44],"smooth":[33],"parameterizing":[34],"trajectory,":[36],"and":[37,56,96,110,113],"time-optimal":[39],"control":[40],"problem":[41],"formulated":[43],"three-dimensional":[46],"point-to-point":[47],"movement":[48],"crane,":[51],"satisfying":[52],"discrete":[54],"kinematic":[55],"dynamic":[57],"along":[59],"trajectory.":[61],"Practical":[62],"applications":[63],"require":[64],"real-time":[66],"change":[67],"in":[68],"positions,":[70],"although":[71],"recomputing":[72],"entire":[74],"optimal":[75],"requires":[77],"high":[78],"computational":[79],"time.":[80],"study,":[83],"two":[84],"methods":[85],"are":[86],"modify":[89],"optimized":[91],"trajectory:":[92],"scaling":[94],"factor":[95],"proposed":[97,118],"reduced":[98],"degree-of-freedom":[99],"modification":[100],"method.":[101],"Simulation":[102],"results":[103],"compare":[104],"total":[105],"motion":[106],"time,":[107,109],"computation":[108],"constraint":[111],"satisfaction,":[112],"effectiveness":[115],"method":[119],"demonstrated.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2023-10-25T00:00:00"}
