Modeling Stabilization of Crane-Induced Ship Motion With Gyroscopic Control Using the Moving Frame Method

2019 ◽  
Vol 14 (3) ◽  
Author(s):  
Josef Flatlandsmo ◽  
Torbjørn Smith ◽  
Ørjan O. Halvorsen ◽  
Thomas J. Impelluso
Keyword(s):  
Oil And Gas ◽  
New Technologies ◽  
Open Loop ◽  
Ship Motion ◽  
Long Term Results ◽  
Moving Frame ◽  
Fish Farms ◽  
Central Processing ◽  
Moving Frame Method ◽  
Frame Method

This paper presents a new method in multibody dynamics and applies it to the challenge of stabilizing ship motion induced by onboard crane operations. Norwegian industries are constantly assessing new technologies for more efficient and safer production in the aquacultural, renewable energy, and oil and gas industries. They share a common challenge to install new equipment and transfer personnel in a safe and controllable way between ships, fish farms, and oil platforms. This paper deploys the moving frame method (MFM) to analyze the motion induced by a crane, yet controlled by a gyroscopic inertial device. We represent the crane as a simple two-link system that transfers produce and equipment to and from barges. We analyze how an inertial flywheel can stabilize the ship during the transfer. Lie group theory and the work of Elie Cartan are the foundations of the MFM. This, together with a restriction on the variation of the angular velocity used in Hamilton's principle, enables an effective way of extracting the equations of motion for an open-loop system. Furthermore, this work displays the results in three-dimensional (3D) on cell phones. The long-term results of this work lead to a robust 3D active compensation method for loading/unloading operations offshore. Finally, the simplicity of the analysis anticipates the impending time of artificial intelligence when machines, equipped with onboard central processing units and internet protocol addresses, are empowered with learning modules to conduct their operations.

Modeling Stablization of Crane and Ship by Gyroscopic Control Using the Moving Frame Method

2018 ◽  
Author(s):  
Josef Flatlandsmo ◽  
Torbjørn Smith ◽  
Ørjan O. Halvorsen ◽  
Johnny Vinje ◽  
Thomas J. Impelluso
Keyword(s):  
Oil And Gas ◽  
New Technologies ◽  
Equations Of Motion ◽  
Long Term Results ◽  
Moving Frame ◽  
Moving Frames ◽  
Learning Modules ◽  
Moving Frame Method ◽  
Frame Method

Norwegian industries are constantly assessing new technologies and methods for more efficient and safer production in the aqua cultural, renewable energy, and oil and gas industries. These Norwegian offshore industries share a common challenge: to install new equipment and transport personnel in a safe and controllable way between ships, farms and platforms. This paper deploys the Moving Frame Method (MFM) to analyze the motion induced by a crane and controlled by a gyroscopic inertial device mounted on a ship. The crane is a simple two-link system that transfers produce and equipment to and from barges. An inertial flywheel — a gyroscope — is used to stabilize the barge during transfer. The MFM describes the dynamics of the system using modern mathematics. Lie group theory and Cartan’s moving frames are the foundation of this new approach to engineering dynamics. This, together with a restriction on the variation of the angular velocity used in Hamilton’s principle, enables an effective way of extracting the equations of motion. This project extends previous work. It accounts for the dual effect of both the crane and the stabilizing inertial device. Furthermore, this work allows for buoyancy and motor induced torques. Furthermore, this work displays the results in 3D on cell phones. The long-term results of this work leads to a robust 3D active compensation method for loading/unloading operations offshore. Finally, the interactivity between the crane and the stabilizing gyro anticipates the impending time of artificial intelligence when machines, equipped with on-board CPU’s and IP addresses, are empowered with learning modules to conduct their operations.

scholarly journals Stabilizing Ship Motion With a Dual System Inertial Disk

2019 ◽  
Author(s):  
Torstein R. Storaas ◽  
Kasper Virkesdal ◽  
Gitle S. Brekke ◽  
Thorstein Rykkje ◽  
Thomas Impelluso
Keyword(s):  
Oil And Gas ◽  
New Technologies ◽  
Equations Of Motion ◽  
Moving Frame ◽  
Moving Frames ◽  
New Approach ◽  
Lie Group Theory ◽  
Moving Frame Method ◽  
Frame Method ◽  
Modern Mathematics

Abstract Norwegian industries are constantly assessing new technologies and methods for more efficient and safer maintenance in the aqua cultural, renewable energy, and oil and gas industries. These Norwegian offshore industries share a common challenge: to install new equipment and transport personnel in a safe and controllable way between ships, farms and platforms. This paper deploys the Moving Frame Method (MFM) to analyze ship stability moderated by a dual gyroscopic inertial device. The MFM describes the dynamics of the system using modern mathematics. Lie group theory and Cartan’s moving frames are the foundation of this new approach to engineering dynamics. This, together with a restriction on the variation of the angular velocity used in Hamilton’s principle, enables an effective way of extracting the equations of motion. This project extends previous work. It accounts for the dual effect of two inertial disk devices, it accounts for the prescribed spin of the disks. It separates out the prescribed variables. This work displays the results in 3D on cell phones. It represents a prelude to testing in a wave tank.

scholarly journals Modeling a Knuckle-Boom Crane Control to Reduce Pendulum Motion Using the Moving Frame Method

2019 ◽  
Author(s):  
Maren Eriksen Eia ◽  
Elise Mari Vigre ◽  
Thorstein Ravneberg Rykkje
Keyword(s):  
Equations Of Motion ◽  
Moving Frame ◽  
Web Pages ◽  
Moving Frames ◽  
Pendulum Motion ◽  
Moving Frame Method ◽  
Frame Method ◽  
The Masses ◽  
And Control ◽  
Boom Crane

Abstract A Knuckle Boom Crane is a pedestal-mounted, slew-bearing crane with a joint in the middle of the distal arm; i.e. boom. This distal boom articulates at the ‘knuckle (i.e.: joint)’ and that allows it to fold back like a finger. This is an ideal configuration for a crane on a ship where storage space is a premium. This project researches the motion and control of a ship mounted knuckle boom crane to minimize the pendulum motion of a hanging load. To do this, the project leverages the Moving Frame Method (MFM). The MFM draws upon Lie group theory — SO(3) and SE(3) — and Cartan’s Moving Frames. This, together with a compact notation from geometrical physics, makes it possible to extract the equations of motion, expeditiously. The work reported here accounts for the masses and geometry of all components, interactive motor couples and prepares for buoyancy forces and added mass on the ship. The equations of motion are solved numerically using a 4th order Runge Kutta (RK4), while solving for the rotation matrix for the ship using the Cayley-Hamilton theorem and Rodriguez’s formula for each timestep. This work displays the motion on 3D web pages, viewable on mobile devices.

Modelling Buoy Motion at Sea

2019 ◽  
Author(s):  
Thorstein R. Rykkje ◽  
Tord Tørressen ◽  
Håvard Løkkebø
Keyword(s):  
Equations Of Motion ◽  
Moving Frame ◽  
Web Pages ◽  
Moving Frames ◽  
Lie Group Theory ◽  
Moving Frame Method ◽  
Frame Method ◽  
And Mathematics ◽  
The Masses ◽  
Theoretical Results

Abstract This project creates a model to assess the motion induced on a buoy at sea, under wave conditions. We use the Moving Frame Method (MFM) to conduct the analysis. The MFM draws upon concepts and mathematics from Lie group theory — SO(3) and SE(3) — and Cartan’s notion of Moving Frames. This, together with a compact notation from geometrical physics, makes it possible to extract the equations of motion, expeditiously. This work accounts for the masses and geometry of all components and for buoyancy forces and added mass. The resulting movement will be displayed on 3D web pages using WebGL. Finally, the theoretical results will be compared with experimental data obtained from a previous project done in the wave tank at HVL.

Production and Analytics of a Multi-Linked Robotic System

2019 ◽  
Author(s):  
Thorstein R. Rykkje ◽  
Eystein Gulbrandsen ◽  
Andreas Fosså Hettervik ◽  
Morten Kvalvik ◽  
Daniel Gangstad ◽  
...  
Keyword(s):  
Equations Of Motion ◽  
Three Dimensional ◽  
Robotic System ◽  
Moving Frame ◽  
Moving Frames ◽  
New Approach ◽  
Lie Group Theory ◽  
Senior Design ◽  
Moving Frame Method ◽  
Frame Method

Abstract This paper extends research into flexible robotics through a collaborative, interdisciplinary senior design project. This paper deploys the Moving Frame Method (MFM) to analyze the motion of a relatively high multi-link system, driven by internal servo engines. The MFM describes the dynamics of the system and enables the construction of a general algorithm for the equations of motion. Lie group theory and Cartan’s moving frames are the foundation of this new approach to engineering dynamics. This, together with a restriction on the variation of the angular velocity used in Hamilton’s principle, enables an effective way of extracting the equations of motion. The result is a dynamic 3D analytical model for the motion of a snake-like robotic system, that can take the physical sizes of the system and return the dynamic behavior. Furthermore, this project builds a snake-like robot driven by internal servo engines. The multi-linked robot will have a servo in each joint, enabling a three-dimensional movement. Finally, a test is performed to compare if the theory and the measurable real-time results match.

Development of an Active Curved Beam Model Using a Moving Frame Method

2016 ◽  
Author(s):  
Hidenori Murakami
Keyword(s):  
Large Deformation ◽  
Timoshenko Beam ◽  
Virtual Work ◽  
Three Dimensional ◽  
Moving Frame ◽  
Beam Model ◽  
Principle Of Virtual Work ◽  
Beam Equations ◽  
Moving Frame Method ◽  
Frame Method

In order to develop an active large-deformation beam model for slender, flexible or soft robots, the d’Alembert principle of virtual work is derived for three-dimensional elastic solids from Hamilton’s principle. This derivation is accomplished by refining the definition of the Cauchy stress tensor as a vector-valued 2-form to exploit advanced geometrical operations available for differential forms. From the three-dimensional principle of virtual work, both the beam principle of virtual work and beam equations of motion with consistent boundary conditions are derived, adopting the kinematic assumption of rigid cross-sections of a deforming beam. In the derivation of the beam model, Élie Cartan’s moving frame method is utilized. The resulting large-deformation beam equations apply to both passive and active beams. The beam equations are validated with the previously reported results expressed in vector form. To transform passive beams to active beams, constitutive relations for internal actuation are presented in rate-form. Then, the resulting three-dimensional beam models are reduced to an active planar beam model. Finally, to illustrate the deformation due to internal actuation, an active Timoshenko-beam model is derived by linearizing the nonlinear planar equations. For an active, simply-supported Timoshenko-beam, the analytical solution is presented.

Modeling Crane Induced Ship Motion Using the Moving Frame Method

2018 ◽  
Author(s):  
Paulo Alexander Jacobsen Jardim ◽  
Jan Tore Rein ◽  
Øystein Haveland ◽  
Thomas J. Impelluso
Keyword(s):  
Equations Of Motion ◽  
Current Approach ◽  
Moving Frame ◽  
Current Phase ◽  
Integration Scheme ◽  
Moving Frames ◽  
Moving Frame Method ◽  
Frame Method ◽  
Interactive 3D ◽  
The Masses

A decline in oil-related revenues challenges Norway to focus on new types of offshore installations and their maintenance. Often, ship-mounted crane systems transfer cargo or crew onto marine structures such as floating windmills. This project analyzes the motion of a ship induced by an onboard crane in operation. It analyzes the motion of a crane mounted on a ship using The Moving Frame Method (MFM). The MFM draws upon Lie group theory and Cartan’s Moving Frames. This, together with a compact notation from geometrical physics, makes it possible to extract the equations of motion, expeditiously. This work extends a previous project that assumed many simplifications. It accounts for the masses and geometry of all components. This current approach also accounts interactive motor couples and prepares for buoyancy forces and added mass. The previous work used a symbolic manipulator, resulting in unwieldy equations. In this current phase, this research solves the equations numerically using a relatively simple numerical integration scheme. Then, the Cayley-Hamilton theorem and Rodriguez’s formula reconstructs the rotation matrix for the ship. Furthermore, this work displays the rotating ship in 3D, viewable on mobile devices. WebGL is a JavaScript API for rendering interactive 3D and 2D graphics within any compatible web browser without the use of plug-ins. This paper presents the results qualitatively as a 3D simulation. This research proves that the MFM is suitable for the analysis of “smart ships,” as the next step in this work.

Inspiring Learning: Assessment of Friction in a Real-World Model Using the Moving Frame Method in Dynamics

2018 ◽  
Author(s):  
Thorstein R. Rykkje ◽  
Daniel Leinebø ◽  
Erlend Sande Bergaas ◽  
Andreas Skjelde ◽  
Thomas J. Impelluso
Keyword(s):  
Undergraduate Students ◽  
Virtual Work ◽  
3D Visualization ◽  
Mechanical Energy ◽  
Rigid Bodies ◽  
Moving Frame ◽  
Integration Scheme ◽  
Moving Frames ◽  
Moving Frame Method ◽  
Frame Method

This project conducts research in energy dissipation. It also demonstrates the power of the new Moving Frame Method (MFM) in dynamics to inspire undergraduate students to embark on research in engineering. The MFM is founded on Lie Group Theory to model rotations of objects, Cartan’s moving frames to model the change of a frame in terms of the frame, and a new notation from the discipline of geometrical physics. The MFM presents a consistent notation for single bodies, linked systems and robotics. This work demonstrates that this new method is accessible by undergraduate students. The MFM structures the equations of motion on the Special Euclidean Group and the Principle of Virtual work. A restriction on the virtual angular velocities to enable variational methods empowers the method. This work implements an explicit fourth order Runge-Kutta numerical integration scheme. It assesses the change in mechanical energy. In addition, this work researches the energy losses due to friction in a system of linked rigid bodies. This research also builds the physical hardware and compares the theory and experiment using 3D visualization. The authors built the structure to observe the actual motion and approximate the energy loss functions. This project demonstrates the power of WebGL to supplement analyses with visualization.

Modeling friction in robotic systems using the moving frame method in dynamics

2019 ◽  
pp. 030641901984416
Author(s):  
Thorstein R Rykkje ◽  
Daniel Leinebø ◽  
Erlend Sande Bergaas ◽  
Andreas Skjelde ◽  
Thomas J Impelluso
Keyword(s):  
Robotic Systems ◽  
Moving Frame ◽  
Moving Frame Method ◽  
Frame Method
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