Kalman Filter approaches on crane swing

The purpose of this study is to explore a Kalman Filter approach to estimating swing of crane-suspended loads. Measuring real-time swing is needed to implement swing damping control strategies where crane joints are used to remove energy from a swinging load. The typical solution to measuring swing uses an inertial sensor attached to the hook block. Measured hook block twist is used to resolve the other two sensed body rates into tangential and radial swing. Uncertainty in the twist measurement leads to inaccurate tangential and radial swing calculations and ineffective swing damping. A typical mitigation approach is to bandpass the inertial sensor readings to remove low frequency drift and high frequency noise. The center frequency of the bandpass filter is usually designed to track the load length and the pass band width set to trade off performance with damping loop gain. The Kalman Filter approach developed here allows all swing motions (radial, tangential and twist) to be measured without the use of a bandpass filter. This provides an alternate solution for swing damping control implementation. After developing a Kalman Filter solution for a two-dimensional swing scenario, the three-dimensional system is considered where simplifying assumptions, suggested by the two-dimensional study, are exploited. One of the interesting aspects of the three-dimensional study is the hook block twist model. Unlike the mass-independence of a pendulum's natural frequency, the twist natural frequency depends both on the pendulum length and the load’s mass distribution. The linear Kalman Filter is applied to experimental data demonstrating the ability to extract the individual swing components for complex motions. It should be noted that the three-dimensional simplifying assumptions preclude the ability to measure two "secondary" hook block rotations. The ability to segregate these motions from the primary swing degrees of freedom was illustrated in the two-dimensional study and could be included into the three-dimensional solution if they were found to be important for a particular application.

The growth response of planted red pine (Pinus resinosa Ait.) to alternative thinning regimes

Red pine (Pinus resinosa Ait.) plantations have been established in Michigan with expectations of mixed final product goals: pulpwood, boltwood and possibly sawlogs. The effects of alternative treatments on tree and stand attributes were examined in: the Atlantic Mine trial, thinned in spring 2006 with three alternatives: (1) every fifth row removal plus crown thinning, (2) every third row removal plus crown thinning and (3) every third row removal plus thinning from below; the Crane Lake trial, thinned in fall 2004 with two alternatives: (1) every third row removal and (2) every third row removal plus thinning from above; the Middle Branch East trial, thinned in fall 2004 with two alternatives: (1) every third row removal plus one in three remaining trees and (2) every third row removal plus one in five remaining trees. All trials included control plots where no thinning was applied. The trials were established in the field as a randomized complete block experiments, in which individual trees were measured in 3-4 fixed-area plots located within each treatment unit. Growth responses of diameter at breast height, height, live crown length, stand basal area and stand volume were examined along with their increments. The Tukey multiple comparison test was used to detect significant differences between treatments in their effect on tree growth response. The results showed that diameter increment increased with increasing thinning intensity and was significantly larger in thinned plots compared to unthinned. Treatments did not substantially affect average tree height increment. Stand basal area increment was significantly larger in the control plot only the year after the harvest. Volume increment was significantly larger in controls, but did not differ considerably among remaining treatments. However, the ratio of volume increment to standing volume was significantly smaller in unthinned plots compared to thinned. Since thinning treatments in all trials hardly ever differed significantly in their effect on stand growth response, mainly due to the relatively short time of the evaluation, heavier thinnings should be favored due to higher volume increment rates and shorter time needed to reach desirable diameters. Nevertheless, economic evaluation based on obtained results will be conducted in the future in order to make final decisions about the most profitable treatment.