SHIP and CRANE SIMULATOR

Lance Arsenault

Ali H. Nayfeh, Dean T. Mook and Ronald KrizDennis Cafiero, Fernando Das Neves, John Kelso, Ziyad Masoud,

Nabel Mostafa, Baba Suleiman, Tom Treakle, Ken Weems

Department of Engineering Science and Mechanics

Virginia Polytechnic Institute and State University

SHIP and CRANE SIMULATOR

Lance Arsenault

Ali H. Nayfeh, Dean T. Mook and Ronald KrizDennis Cafiero, Fernando Das Neves, John Kelso, Ziyad Masoud,

Nabel Mostafa, Baba Suleiman, Tom Treakle, Ken Weems

Department of Engineering Science and Mechanics

Virginia Polytechnic Institute and State University

2Ship and Crane Simulator

Project Description and

Motivation

• Test-Bed for Studying: – Response of Ships to Varying Sea Dynamics

– Ship Motion Prediction and Control

– Control of Moving Loads at Sea

– Ship and Crane Operator

– Model Feedback and Feedforward

•Real-time Interactive Operator in the Loop Simulator

•Like an Aircraft Flight Simulator with:

–6-D Motion Base

–3-D Stereo Vision

–Computer Generated Graphics, Sound and Motion

–Very Reconfigurable

•Logical Step for MURI Project

3Ship and Crane Simulator

What Is The Cave?

http://www.cave.vt.edu

4Ship and Crane Simulator

What Is The Cave?

5Ship and Crane Simulator

MOOG Motion Base

6Ship and Crane Simulator

Future Home

7Ship and Crane Simulator

Current Progress

–Developed a UNIX MOOG Interface API

–VR Ocean Waves

–Synchronized VR Ship and Waves, and Motion Base motion with LAMP data –Intersense Inc's Prototype IS900 is Installed

–Diverse Toolkit – Inter-process API

–Installed Crane Operator Seat

–VR Model of US Naval Crane Ship

8Ship and Crane Simulator

US Naval Crane Ship

9Ship and Crane Simulator

Crane Simulator Movie

System Software DesignSystem Software DesignDTK Servermemory manager

SharedMemorysystem state

Motion Basecom motion base

Motion Basecontroller

command

base state

LAMPship dynamics

ship

Fun Filtermotion filter

motion

graphics Render

draw visual

Crane Modelcrane dynamics

crane

Crane Controloperator filter

Operator Inputjoysticks/buttons

joysticks

buttons

sensors

MotionTrackernon-magnetic

head

wand

*complete

Soundsimulator driven

SharedMemorysystem state

command

base state

ship

motion

graphics

crane

joysticks

buttons

head

wand

12Ship and Crane Simulator

Future Work

–Integrate Crane Dynamics

–Integrate real-time LAMP program–Integrate Motion base Joysticks to crane controls

–Fun Filter–Integrate Sound

–Produce realistic US naval Ship and Crane Components–Move and Integrate CAVE and Motion Base

–Polish for Realism and Usability

–Other MURI Projects

13Ship and Crane Simulator

http://thor.sv.vt.edu/crane/