Abstract: A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from the desired payload motion.

Abstract: A command shaping control system and method for rotary boom cranes provides a way to reduce payload pendulation caused by real-time input signals, from either operator command or automated crane maneuvers. The method can take input commands and can apply a command shaping filter to reduce contributors to payload pendulation due to rotation, elevation, and hoisting movements in order to control crane response and reduce tangential and radial payload pendulation. A filter can be applied to a pendulation excitation frequency to reduce residual radial pendulation and tangential pendulation amplitudes.

Abstract: A hydraulic shape memory material force converter is provided comprising a shape memory material. The force converter utilizes hydraulic units and a hydraulic fluid. The hydraulic unit is changed from a first position to a second position when the shape memory material, connected at one end to one end of the hydraulic unit and its other to a fixed point or a second end of the hydraulic unit, changes from a martensitic to an austenitic state upon heating. The hydraulic fluid responds to the movement of the hydraulic unit by moving from the hydraulic unit to a receiving device, which receiving device performs work due to the motion of the hydraulic fluid. Upon cooling the shape memory material to change it from the austenitic state back to the martensitic state, the hydraulic unit returns to its original position, with a biasing means being provided to return the hydraulic unit to its rest position.