SHIP and CRANE SIMULATOR Lance Arsenault Ali H

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

Project Description and Motivation • 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 • Test-Bed for Studying: – – – Response of Ships to Varying Sea Dynamics Ship Motion Prediction and Control of Moving Loads at Sea Ship and Crane Operator Model Feedback and Feedforward Ship and Crane Simulator 2

What Is The Cave? http: //www. cave. vt. edu Ship and Crane Simulator 3

What Is The Cave? Ship and Crane Simulator 4

MOOG Motion Base Ship and Crane Simulator 5

Future Home Ship and Crane Simulator 6

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 IS 900 is Installed –Diverse Toolkit – Inter-process API –Installed Crane Operator Seat –VR Model of US Naval Crane Ship and Crane Simulator 7

US Naval Crane Ship and Crane Simulator 8

Crane Simulator Movie Ship and Crane Simulator 9

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

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

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 Ship and Crane Simulator 12

http: //thor. sv. vt. edu/crane/ Ship and Crane Simulator 13