Abstract
This paper introduces the intelligent controlling solution of Yard Cranes (YCs, RTG) in the container terminal production process. The Computing, Communication and Controlling Technology (CCCT) play the important role in this port equipment rebuilding. The Terminal Yard Cranes Real-time Operating System (CYCROS) is able to solve the running trail yaw and working loose problems etc. The framework of Real-time Operating System and DGPS-RTK work principle in the solution as well as application case in Tianjin port are showed in this article.
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