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

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