Patent ID: 8195368

Claim:
An active control method for facilitating joint lifting of a load by plural cranes situated onboard the same marine vessel, the active control method comprising sensing geometric parameters of said cranes, sensing motion of said marine vessel, determining solutions for said geometric parameters to approximate a static equilibrium condition preventing pendulation of said load, and adjusting said geometric parameters in accordance with the determined said solutions, wherein said sensing of said geometric parameters, said sensing of said motion of said marine vessel, said determining of said solutions for said geometric parameters, and said adjusting of said geometric parameters are performed on a continual basis during said joint lifting of said load by said cranes, said solutions for said geometric parameters being determined repeatedly so as to continually update said approximations of said static equilibrium condition preventing pendulation of said load, the active control method thereby, on a continual basis, coordinating said joint lifting of said load by said cranes so as to at least substantially prevent pendulation of said load that is caused by said motion of said marine vessel during said joint lifting of said load by said cranes.