A virtual environment for ship-mounted cranes

Mohammed Daqaq, A. H. Nayfeh

    Research output: Contribution to journalArticle

    Abstract

    The authors present a virtual simulation of ships and ship-mounted cranes. The simulation is carried out in a Cave Automated Virtual Environment (CAVE). This simulation serves as a training platform for ship-mounted crane operators and as a platform to study the dynamics of ships and ship-mounted cranes under dynamic sea environments. A model of the (Auxiliary Crane Ship) T-ACS 4-6 was built, converted into an OpenGL C++ API, and then ported into the CAVE using DiverseGL (DGL). A six-degrees-of-freedom motion base was used to simulate the actual motion of the ship. The equations of motion of the ship are solved using the Large Amplitude Motion Program (LAMP), and the equations of motion of the crane payload are numerically integrated; the interaction between the payload and the ship is taken into consideration. A nonlinear delayed-position feedback-control system is applied to the crane, and the resulting simulation is used to compare the controlled and uncontrolled pendulations of the cargo. Our Simulator shows a great deal of realism and was used to simulate different ship-motion and cargo transfer scenarios.

    Original languageEnglish (US)
    Pages (from-to)272-279
    Number of pages8
    JournalInternational Journal of Modelling and Simulation
    Volume24
    Issue number4
    DOIs
    StatePublished - Jan 1 2004

    Fingerprint

    Cranes
    Virtual Environments
    Ship
    Virtual reality
    Ships
    Equations of motion
    Motion
    Ship cranes
    Equations of Motion
    Simulation
    Ship Motion
    OpenGL
    Caves
    Position Control
    Position control
    Feedback Systems
    C++
    Application programming interfaces (API)
    Feedback Control
    Feedback control

    Keywords

    • Crane operator
    • Motion platform
    • Ship motion
    • Virtual reality

    ASJC Scopus subject areas

    • Software
    • Modeling and Simulation
    • Mechanics of Materials
    • Hardware and Architecture
    • Electrical and Electronic Engineering

    Cite this

    A virtual environment for ship-mounted cranes. / Daqaq, Mohammed; Nayfeh, A. H.

    In: International Journal of Modelling and Simulation, Vol. 24, No. 4, 01.01.2004, p. 272-279.

    Research output: Contribution to journalArticle

    Daqaq, Mohammed ; Nayfeh, A. H. / A virtual environment for ship-mounted cranes. In: International Journal of Modelling and Simulation. 2004 ; Vol. 24, No. 4. pp. 272-279.
    @article{7916361d9338478894e3154c17b10683,
    title = "A virtual environment for ship-mounted cranes",
    abstract = "The authors present a virtual simulation of ships and ship-mounted cranes. The simulation is carried out in a Cave Automated Virtual Environment (CAVE). This simulation serves as a training platform for ship-mounted crane operators and as a platform to study the dynamics of ships and ship-mounted cranes under dynamic sea environments. A model of the (Auxiliary Crane Ship) T-ACS 4-6 was built, converted into an OpenGL C++ API, and then ported into the CAVE using DiverseGL (DGL). A six-degrees-of-freedom motion base was used to simulate the actual motion of the ship. The equations of motion of the ship are solved using the Large Amplitude Motion Program (LAMP), and the equations of motion of the crane payload are numerically integrated; the interaction between the payload and the ship is taken into consideration. A nonlinear delayed-position feedback-control system is applied to the crane, and the resulting simulation is used to compare the controlled and uncontrolled pendulations of the cargo. Our Simulator shows a great deal of realism and was used to simulate different ship-motion and cargo transfer scenarios.",
    keywords = "Crane operator, Motion platform, Ship motion, Virtual reality",
    author = "Mohammed Daqaq and Nayfeh, {A. H.}",
    year = "2004",
    month = "1",
    day = "1",
    doi = "10.1080/02286203.2004.11442312",
    language = "English (US)",
    volume = "24",
    pages = "272--279",
    journal = "International Journal of Modelling and Simulation",
    issn = "0228-6203",
    publisher = "ACTA Press",
    number = "4",

    }

    TY - JOUR

    T1 - A virtual environment for ship-mounted cranes

    AU - Daqaq, Mohammed

    AU - Nayfeh, A. H.

    PY - 2004/1/1

    Y1 - 2004/1/1

    N2 - The authors present a virtual simulation of ships and ship-mounted cranes. The simulation is carried out in a Cave Automated Virtual Environment (CAVE). This simulation serves as a training platform for ship-mounted crane operators and as a platform to study the dynamics of ships and ship-mounted cranes under dynamic sea environments. A model of the (Auxiliary Crane Ship) T-ACS 4-6 was built, converted into an OpenGL C++ API, and then ported into the CAVE using DiverseGL (DGL). A six-degrees-of-freedom motion base was used to simulate the actual motion of the ship. The equations of motion of the ship are solved using the Large Amplitude Motion Program (LAMP), and the equations of motion of the crane payload are numerically integrated; the interaction between the payload and the ship is taken into consideration. A nonlinear delayed-position feedback-control system is applied to the crane, and the resulting simulation is used to compare the controlled and uncontrolled pendulations of the cargo. Our Simulator shows a great deal of realism and was used to simulate different ship-motion and cargo transfer scenarios.

    AB - The authors present a virtual simulation of ships and ship-mounted cranes. The simulation is carried out in a Cave Automated Virtual Environment (CAVE). This simulation serves as a training platform for ship-mounted crane operators and as a platform to study the dynamics of ships and ship-mounted cranes under dynamic sea environments. A model of the (Auxiliary Crane Ship) T-ACS 4-6 was built, converted into an OpenGL C++ API, and then ported into the CAVE using DiverseGL (DGL). A six-degrees-of-freedom motion base was used to simulate the actual motion of the ship. The equations of motion of the ship are solved using the Large Amplitude Motion Program (LAMP), and the equations of motion of the crane payload are numerically integrated; the interaction between the payload and the ship is taken into consideration. A nonlinear delayed-position feedback-control system is applied to the crane, and the resulting simulation is used to compare the controlled and uncontrolled pendulations of the cargo. Our Simulator shows a great deal of realism and was used to simulate different ship-motion and cargo transfer scenarios.

    KW - Crane operator

    KW - Motion platform

    KW - Ship motion

    KW - Virtual reality

    UR - http://www.scopus.com/inward/record.url?scp=5144220406&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=5144220406&partnerID=8YFLogxK

    U2 - 10.1080/02286203.2004.11442312

    DO - 10.1080/02286203.2004.11442312

    M3 - Article

    VL - 24

    SP - 272

    EP - 279

    JO - International Journal of Modelling and Simulation

    JF - International Journal of Modelling and Simulation

    SN - 0228-6203

    IS - 4

    ER -