A dynamic behavior modeler for future inclusion into a multi-tasking motion planning system for material handling in construction

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1991-10-05
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Virginia Tech
Abstract

Construction has multiple material handling equipment that cross each others’ paths. These equipments have significant dynamic behavior under various load conditions. A system to model multi-tasking material handling with dynamic behavior capabilities will provide advances in automation.

Current computer graphics and CAD technology, combined with advanced engineering concepts provide the capability for a dynamic behavior modeler which is capable of modeling the dynamics of mechanisms involved in the material handling operations in construction realistically.

This thesis presents a conceptual dynamic behavior modeler. The conceptual modeler is envisioned for future inclusion into a multi-tasking motion planning system for material handling in construction. The conceptual modeler is intended to perform dynamic simulation of 3-D rigid bodies for computer animation. In addition, the modeler provides a capability to model and predict real-life behavior of physical objects subject to dynamic loading.

This thesis also presents a sample animation case involving a mobile crane in a "pick and place task”. Although traditional animation methods have been employed for the sample case, the animation provides an insight to the realistic visualization that would be achieved through dynamic simulation. In order to achieve a real-time animation, no finite element modeler has been utilized. Also, significant work was done to study approximation Strategies in the development of the analytical model of the sample case to improve the efficiency of the animation.

The dynamic behavior modeler presented in this thesis will provide a novel approach to model the motion planning process. The modeler will ensure realistic visualization of material handling operations. The modeler will allow engineers to animate the material handling process based on dynamic simulation. Engineers will be able to realistically model critical rigging operations. The technology provided by the dynamic behavior modeler will enable engineers to better plan, model, and control the material handling process. This will further lead to significant improvements in constructability and overall performance of construction projects.

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