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SHIP and CRANE SIMULATOR Lance Arsenault Ali H. Nayfeh, Dean T. Mook and Ronald Kriz

SHIP and CRANE SIMULATOR Lance Arsenault Ali H. Nayfeh, Dean T. Mook and Ronald Kriz Dennis Cafiero, Fernando Das Neves, John Kelso, Ziyad Masoud, Nabel Mostafa, Baba Suleiman, Tom Treakle, Ken Weems Department of Engineering Science and Mechanics

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SHIP and CRANE SIMULATOR Lance Arsenault Ali H. Nayfeh, Dean T. Mook and Ronald Kriz

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  1. SHIP and CRANE SIMULATOR Lance Arsenault Ali H. Nayfeh, Dean T. Mook and Ronald Kriz Dennis 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

  2. 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

  3. What Is The Cave? http://www.cave.vt.edu

  4. What Is The Cave?

  5. MOOG Motion Base

  6. Future Home

  7. 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

  8. US Naval Crane Ship

  9. Crane Simulator Movie

  10. *complete SharedMemory system state DTK Server memory manager command Crane Control operator filter Motion Base com motion base base state motion joysticks Operator Input joysticks/buttons buttons crane Fun Filter motion filter MotionTracker non-magnetic head wand ship Render draw visual graphics System Software Design Motion Base controller sensors Crane Model crane dynamics LAMP ship dynamics

  11. SharedMemory system state command base state motion joysticks Sound simulator driven buttons crane head wand ship graphics

  12. 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

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

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