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dc.contributor.authorHatledal, Lars Ivar
dc.contributor.authorSanfilippo, Filippo
dc.contributor.authorChu, Yingguang
dc.contributor.authorZhang, Houxiang
dc.date.accessioned2017-11-29T14:15:02Z
dc.date.available2017-11-29T14:15:02Z
dc.date.created2015-10-27T14:17:32Z
dc.date.issued2015
dc.identifier.isbn978-0-7918-5647-5
dc.identifier.urihttp://hdl.handle.net/11250/2468559
dc.description.abstractWorkspace computation and visualisation is one of the most important criteria in offshore crane design in terms of geometry dimensioning, installation feasibility and operational performance evaluation. This paper presents a numerical method for the computation and visualisation of the workspace of offshore cranes. The Working Load Limit (WLL) and the Safe Working Load (SWL) can be automatically determined. A three-dimensional (3D) rectangular grid of voxels is used to describe the properties of the workspace. Firstly, a number of joint configurations are generated by using the Monte Carlo method, which are then mapped from joint to Cartesian space using forward kinematics (FK). The bounding box of the workspace is then derived from these points, and the voxels are distributed on planes inside the box. The method distinguishes voxels by whether they are reachable and if they are on the workspace boundary. The output of the method is an approximation of the workspace volume and point clouds depicting both the reachable space and the boundary of the workspace. Using a third-party software that can work with point clouds, such like MeshLab, a 3D mesh of the workspace can be obtained. A more in-depth description and the pseudo-code of the presented method are presented. As a case study, the workspace of a common type of offshore crane, with three rotational joints, is computed with the proposed method.nb_NO
dc.language.isoengnb_NO
dc.publisherAmerican Society of Mechanical Engineers (ASME)nb_NO
dc.relation.ispartofASME 2015 34th International Conference on Ocean, Offshore and Arctic Engineering
dc.subjectNumerisk analysenb_NO
dc.subjectNumerical analysisnb_NO
dc.subjectCranesnb_NO
dc.subjectOcean engineeringnb_NO
dc.titleA Voxel-Based Numerical Method for Computing and Visualising the Workspace of Offshore Cranesnb_NO
dc.typeChapternb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.subject.nsiVDP::Teknologi: 500nb_NO
dc.subject.nsiVDP::Technology: 500nb_NO
dc.identifier.doi10.1115/OMAE2015-41634
dc.identifier.cristin1283975
dc.relation.projectNorges forskningsråd: 235309nb_NO
dc.description.localcodeThis chapter will not be available due to copyright restrictions (c) 2015 by ASMEnb_NO
cristin.unitcode194,64,93,0
cristin.unitnameInstitutt for havromsoperasjoner og byggteknikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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