Enhancement of Virtual Simulator for Marine Crane Operations via Haptic Device with Force Feedback

Abstract

Abstract. This paper presents simulations of maritime crane operations using a haptic device with force feedback. Maritime crane operations are challenging under adverse environmental conditions. System testing and operation training on physical systems and prototypes are time-consuming and costly. Simulation of crane operations in virtual environment alleviates the shortcomings with physical systems by 3D visualization and force feedback to the operator. Currently, haptic technology has limited applications in heavy industries due to the system stability and safety issues related to remote control of large manipulators. A novel 6-DoF haptic device was developed for crane operations enabling a larger workspace range and higher rigidity. The employment of the haptic device enlarges the human interaction scope of the virtual simulator for crane operations by sending feedback forces to the operators. Simulations of maritime crane anti-sway control suggested that the load sway time and amplitude were reduced more effectively with force feedback. Using the haptic device, it also helps the crane operator to prevent problematic operations. Keywords: maritime crane operation, virtual simulation, force feedback IntroductionCompared to land based cranes, maritime cranes are harder to operate considering both safety and working efficiency. It is rather difficult to achieve stable and accurate positioning of the heavy pendulum load via remote control devices. The movements of the vessel cause many problems in offshore and subsea applications. The load sway creates high safety risks for the object, equipment and personnel on board. In maritime crane operations, direct visual information including monitors and sensors in the control room tends to be insufficient for the operators to make quick and adequate response in practice. It demands a lot of experience from the operators, and intensive concentrations during the operation time. Haptic device with force feedback can help convey information directly to the operators, leaving them to concentrate on the task

Virtual prototyping for maritime crane design and operations

“…In engineering fields, the current technology could only offer limited realizations in visual sense, tactile and haptic (force feedback), and audio (critical for some cases). The application of haptic technology in crane operations also adds a sense of touch to the operators to improve safer operations [25] [26]. The aerospace and automobile industry has taken leading roles in VP for product design, manufacturing and simulation [27] [28].…”