{"id":"https://openalex.org/W4416615504","doi":"https://doi.org/10.1016/j.ymssp.2025.113688","title":"Slow and safe motion trajectory generation for final positioning support of a load considering load-sway and obstacle avoidance in large rotary crane operation","display_name":"Slow and safe motion trajectory generation for final positioning support of a load considering load-sway and obstacle avoidance in large rotary crane operation","publication_year":2025,"publication_date":"2025-11-25","ids":{"openalex":"https://openalex.org/W4416615504","doi":"https://doi.org/10.1016/j.ymssp.2025.113688"},"language":"en","primary_location":{"id":"doi:10.1016/j.ymssp.2025.113688","doi":"https://doi.org/10.1016/j.ymssp.2025.113688","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ymssp.2025.113688","pdf_url":null,"source":{"id":"https://openalex.org/S128368299","display_name":"Mechanical Systems and Signal Processing","issn_l":"0888-3270","issn":["0888-3270","1096-1216"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-3","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mechanical Systems and Signal Processing","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.ymssp.2025.113688","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","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":true,"raw_author_name":"Nur Azizah Amir","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, 441-8580, Japan"],"raw_orcid":"https://orcid.org/0009-0008-5929-9533","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, 441-8580, Japan","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":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, 441-8580, Japan","Department of Mechatronics Engineering, Faculty of Engineering, Assiut University, Assiut 71515, Egypt"],"raw_orcid":"https://orcid.org/0000-0002-5144-5881","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, 441-8580, Japan","institution_ids":["https://openalex.org/I136259955"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, Faculty of Engineering, Assiut University, Assiut 71515, Egypt","institution_ids":["https://openalex.org/I91041137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103497174","display_name":"Hideki Takahashi","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":"Hideki Takahashi","raw_affiliation_strings":["Kobelco Construction Machinery Co., Ltd., Hiroshima, 731-5161, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kobelco Construction Machinery Co., Ltd., Hiroshima, 731-5161, Japan","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":["Kobelco Construction Machinery Co., Ltd., Hiroshima, 731-5161, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kobelco Construction Machinery Co., Ltd., Hiroshima, 731-5161, Japan","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":["Kobelco Construction Machinery Co., Ltd., Hiroshima, 731-5161, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kobelco Construction Machinery Co., Ltd., Hiroshima, 731-5161, Japan","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":["Kobelco Construction Machinery Co., Ltd., Hiroshima, 731-5161, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kobelco Construction Machinery Co., Ltd., Hiroshima, 731-5161, Japan","institution_ids":["https://openalex.org/I4210146650"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ryosuke Horio","orcid":null,"observed_orcids":[]},"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":"Ryosuke Horio","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, 441-8580, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, 441-8580, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"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":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, 441-8580, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, 441-8580, Japan","institution_ids":["https://openalex.org/I136259955"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5093120711"],"corresponding_institution_ids":["https://openalex.org/I136259955"],"apc_list":{"value":4730,"currency":"USD","value_usd":4730},"apc_paid":{"value":4730,"currency":"USD","value_usd":4730},"fwci":0.2685,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.40647918,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"242","issue":null,"first_page":"113688","last_page":"113688"},"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":0.9907000064849854,"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":0.9907000064849854,"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":0.0015999999595806003,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.0012000000569969416,"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":0.9409999847412109},{"id":"https://openalex.org/keywords/load-positioning","display_name":"load positioning","score":0.609000027179718},{"id":"https://openalex.org/keywords/load-sway-suppression","display_name":"load sway suppression","score":0.7820000052452087},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.9190000295639038},{"id":"https://openalex.org/keywords/trajectory-generation","display_name":"trajectory generation","score":0.9290000200271606},{"id":"https://openalex.org/keywords/a-algorithm","display_name":"A* algorithm","score":0.9580000042915344},{"id":"https://openalex.org/keywords/s-curve-trajectory","display_name":"S-curve trajectory","score":0.7749999761581421},{"id":"https://openalex.org/keywords/trapezoidal-velocity-profile","display_name":"trapezoidal velocity profile","score":0.8709999918937683},{"id":"https://openalex.org/keywords/operator-interface","display_name":"operator interface","score":0.6119999885559082},{"id":"https://openalex.org/keywords/usability-evaluation","display_name":"usability evaluation","score":0.8709999918937683}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7254999876022339},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.661899983882904},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6265000104904175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5407000184059143},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46050000190734863},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.4408999979496002},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42170000076293945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4009999930858612},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39809998869895935},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.38609999418258667},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.382099986076355},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.362199991941452},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33820000290870667},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3271999955177307},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3255999982357025},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.30970001220703125},{"id":"https://openalex.org/C2777016798","wikidata":"https://www.wikidata.org/wiki/Q2001988","display_name":"Collision avoidance system","level":4,"score":0.3093000054359436},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.29980000853538513},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29789999127388},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.295199990272522},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2824000120162964},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.2653000056743622},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.2556999921798706}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.ymssp.2025.113688","doi":"https://doi.org/10.1016/j.ymssp.2025.113688","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ymssp.2025.113688","pdf_url":null,"source":{"id":"https://openalex.org/S128368299","display_name":"Mechanical Systems and Signal Processing","issn_l":"0888-3270","issn":["0888-3270","1096-1216"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-3","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mechanical Systems and Signal Processing","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.ymssp.2025.113688","doi":"https://doi.org/10.1016/j.ymssp.2025.113688","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ymssp.2025.113688","pdf_url":null,"source":{"id":"https://openalex.org/S128368299","display_name":"Mechanical Systems and Signal Processing","issn_l":"0888-3270","issn":["0888-3270","1096-1216"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-3","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mechanical Systems and Signal Processing","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.7207000255584717}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1970059941","https://openalex.org/W2016378037","https://openalex.org/W2046763505","https://openalex.org/W2127305280","https://openalex.org/W2155221061","https://openalex.org/W2401928050","https://openalex.org/W2799820594","https://openalex.org/W3013993013","https://openalex.org/W3082692396","https://openalex.org/W3083698075","https://openalex.org/W3111437362","https://openalex.org/W3139611348","https://openalex.org/W3217010938","https://openalex.org/W4200215443","https://openalex.org/W4225131929","https://openalex.org/W4282558080","https://openalex.org/W4310172021","https://openalex.org/W4312503134","https://openalex.org/W4385470930","https://openalex.org/W4388130283","https://openalex.org/W4396717173","https://openalex.org/W4400164121","https://openalex.org/W4400348158","https://openalex.org/W4404486958","https://openalex.org/W4410284301"],"related_works":["https://openalex.org/W7128626519","https://openalex.org/W4400348158","https://openalex.org/W4413157131","https://openalex.org/W4385470930","https://openalex.org/W4410284301","https://openalex.org/W4399374749","https://openalex.org/W4395662206","https://openalex.org/W4312503134","https://openalex.org/W4411529888","https://openalex.org/W4409495002"],"abstract_inverted_index":{"Rotary":[0],"crane":[1],"systems":[2],"are":[3],"essential":[4],"for":[5,17,125],"transporting":[6],"heavy":[7],"loads":[8],"and":[9,45,57,71,86,128,172,177,189],"hazardous":[10],"materials.":[11],"Manual":[12],"operation":[13],"can":[14],"be":[15],"challenging":[16],"new":[18],"or":[19],"unskilled":[20],"operators.":[21],"This":[22],"study":[23],"addresses":[24],"the":[25,54,58,80,96,101,137,153,183],"challenge":[26],"of":[27],"precise":[28,190],"final":[29,97,191],"load":[30,49,55,98],"positioning":[31,192],"in":[32,157],"construction":[33],"sites":[34],"by":[35,90],"proposing":[36],"a":[37,63,106,113,161],"trajectory":[38,108,146,149],"generation":[39],"system":[40,170],"that":[41,79,182],"integrates":[42],"obstacle":[43,126],"avoidance":[44],"load-sway":[46],"suppression.":[47],"A":[48,74,140],"monitor":[50],"camera":[51],"(LMC)":[52],"captures":[53],"environment,":[56],"result":[59],"is":[60,87,109,123],"displayed":[61],"on":[62],"user-friendly":[64],"interface":[65,81],"designed":[66],"with":[67,136,143],"error":[68],"prevention,":[69],"simplicity,":[70],"ergonomic":[72],"considerations.":[73],"usability":[75],"evaluation":[76],"has":[77,131,151,168],"confirmed":[78,181],"reduces":[82],"task":[83],"completion":[84],"time":[85],"well":[88],"accepted":[89],"novice":[91],"users.":[92],"The":[93,120],"operator":[94],"selects":[95],"position":[99],"from":[100],"LMC":[102],"image,":[103],"after":[104],"which":[105],"slow-motion":[107],"automatically":[110],"generated":[111],"using":[112,147],"cycloidal":[114],"velocity":[115],"profile":[116,150],"to":[117],"suppress":[118],"load-sway.":[119],"A*":[121],"algorithm":[122],"used":[124],"avoidance,":[127],"its":[129],"efficiency":[130],"been":[132],"validated":[133],"through":[134],"comparison":[135,142],"Dijkstra":[138],"algorithm.":[139],"benchmark":[141],"an":[144],"S-curve":[145],"trapezoidal":[148],"demonstrated":[152],"proposed":[154,184],"method\u2019s":[155],"superiority":[156],"minimizing":[158],"sway.":[159],"Additionally,":[160],"disturbance":[162],"sensitivity":[163],"analysis":[164],"under":[165],"wind":[166],"conditions":[167],"evaluated":[169],"robustness":[171],"highlights":[173],"potential":[174],"improvements.":[175],"Simulations":[176],"lab-scale":[178],"experiments":[179],"have":[180],"method":[185],"enables":[186],"safe,":[187],"smooth,":[188],"while":[193],"avoiding":[194],"obstacles.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-09-29T14:09:16.559479","created_date":"2025-11-25T00:00:00"}