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Application of collision detection in visual simulation system for bridge cranes

2nd International Conference on Mechatronics and Control Engineering (ICMCE 2013)

作者： Dong Mingxiao Lu Mengmeng Li Ruichuan Tian Junru Luo Ren Yu Jiang Ming Shi Shandong Jianzhu Univ Sch Mech & Elect Engn Jinan 250101 Peoples R China Shandong Wuzehng Grp Rizhao Peoples R China

ISBN: (纸本)9783037858943

Collision detection is the key technology in the visual simulation system for bridge cranes. According to analyse the collision between hook and virtual objects in visual simulation system for bridge cranes, collision detection method of visual simulation system for bridge cranes is determined based on the collision detection principle. First of all, LOS intersection vector method is chosen based on the principle of collision detection in Vega. Hook is designed for the collision target using Isector module in Lynx and the same intersection vector masks in Isector Class are guaranteed. Then, the BUMP collision detection for hook is created by calling vgIsector functions in VC-I F and BUMP detection method of hook is bounded with hook. Finally, conditional statements which ensure hook to move without collision are compiled. Therefore, the virtual scene around the hook is detected in real time. The results show that the phenomenon of passing through by mistake for the hook can be avoided applying the BUMP collision detection method in Vega software in visual simulation system for bridge cranes, and the accuracy for BUMP method detecting the goods is improved using LOS collision detection method.

关键词： bridge crane visual simulation system collision detection Vega

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Design and Implementation of visual simulation system for Shipborne Crane control

Design and Implementation of Visual Simulation System for Sh...

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21st Chinese Control and Decision Conference

作者： Li, Peng Wang, Cungang Harbin Inst Technol Harbin 150001 Peoples R China Harbin Engn Univ Coll Automat Harbin 150001 Peoples R China

ISBN: (纸本)9781424427239

The shipborne crane studied in this paper is a,complex system made up of the foldaway and controlled arms, which has the important function for ships working on sea. A visual simulation system for this shipborne crane with virtual reality is designed and realized by OpenGL on VC++ (visual C++) platform. The present system can realize the visual simulation for trajectory-planning and joint control along track at the certain states. The main characteristics of structure and function of the visual simulation system are described. The software scheme is brought out. It's essential for virtual simulation software to apply in the studies of kinematics and dynamics simulation for this kind of shipborne crane. The results of visual simulation show that this system is workable and effective. It is an important simulation environment for the study of the crane's operation on the sea and offers a very effective, economical means or approach for the research and development of other similar systems.

关键词： Shipborne Crane visual simulation system OpenGL Design and Implementation

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Application of Vega Path Tool in visual simulation system for bridge cranes

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2nd International Conference on Mechatronics and Control Engineering (ICMCE 2013)

作者： Dong Mingxiao Lu Mengmeng Li Ruichuan Tian Junru Luo Ren Yu Jiang Ming Shi Shandong Jianzhu Univ Sch Mech & Elect Engn Jinan 250101 Peoples R China Shandong Wuzheng Grp Rizhao 262306 Peoples R China

ISBN: (纸本)9783037858943

Aiming at the path sudden change and inconsistent turning of virtual vehicles in visual simulation system for bridge cranes, forklifts' virtual paths are created by using path and navigator modules in Lynx interface based on the application principles of path and navigator in Vega software. Then, forklifts' visual paths are edited to ensure the natural and fluent movements of forklifts by choosing spline navigator, setting smaller smoothing threshold and smaller spline tension parameters in Path Tool. Finally, combining working cycle requirements of loading and unloading goods for bridge cranes, continuous motions of several forklifts are realized by calling the path navigation library functions of Vega Software in VC++. Therefore, virtual vehicles' complex paths are created and disadvantages of fixed path for virtual vehicles in visual simulation system are solved.

关键词： Bridge cranes visual simulation system path Vega

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Ship and Ocean visual simulation system Based on High Definition Render Pipeline 13

Ship and Ocean Visual Simulation System Based on High Defini...

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13th IEEE International Conference on Communications, Circuits and systems (ICCCAS)

作者： Jiang, Zhengyi Zhang, Bo Zhang, Shuai He, Yunqian Du, Xingyue China Ship Sci Res Ctr Taihu Lab Deepsea Technol Sci Wuxi Jiangsu Peoples R China

ISBN: (纸本)9798350386288;9798350386271

visual simulation system plays a significant role in the development of unmanned surface vehicle. Due to the disadvantages of low fidelity, there is a deep gap between existing systems and real scenes on the sea. This paper proposes a ship and ocean visual simulation system based on high definition render pipeline, which achieves realistic water simulation and ship wave interaction. Ships are capable of real-time response to waves under different sea states, leading to a strong sense of realism and immersion with the aid of high quality rendering. Apart from testing unmanned perception and control algorithms in diverse scenes, the visual simulation system also enables virtual reconstruction of detected targets sent by real sensors, facilitating remote operators to understand perceived results intuitively.

关键词： visual simulation system high definition ship wave interaction real-time response virtual reconstruction

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Design and Implementation of visual simulation system for Shipborne Crane control

Design and Implementation of Visual Simulation System for Sh...

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2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

作者： Peng Li Cungang Wang Harbin Institute of Technology Harbin 150001 China College of Automation Harbin Engineering Unive College of Automation Harbin Engineering University Harbin 150001 China

The shipborne crane studied in this paper is a complex system made up of the foldaway and controlled arms, which has the important function for ships working on sea. A visual simulation system for this shipborne crane with virtual reality is designed and realized by OpenGL on VC++ (visual C++) platform. The present system can realize the visual simulation for trajectory-planning and joint control along track at the certain states. The main characteristics of structure and function of the visual simulation system are described. The software scheme is brought out. It's essential for virtual simulation software to apply in the studies of kinematics and dynamics simulation for this kind of shipborne crane. The results of visual simulation show that this system is workable and effective. It is an important simulation environment for the study of the crane's operation on the sea and offers a very effective, economical means or approach for the research and development of other similar systems.

关键词： Shipborne Crane visual simulation system OpenGL Design and Implementation

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Design and Implementation of visual simulation system for Shipborne Crane control

Design and Implementation of Visual Simulation System for Sh...

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2009中国控制与决策会议

作者： Peng Li~(1,2),Cungang Wang~2 1.Harbin Institute of Technology,Harbin 150001,China 2.College of Automation,Harbin Engineering University,Harbin 150001,China

The shipborne crane studied in this paper is a complex system made up of the foldaway and controlled arms, which has the important function for ships working on sea.A visual simulation system for this shipborne crane with virtual reality is designed and realized by OpenGL on VC++(visual C++) *** present system can realize the visual simulation for trajectory-planning and joint control along track at the certain *** main characteristics of structure and function of the visual simulation system are *** software scheme is brought ***'s essential for virtual simulation software to apply in the studies of kinematics and dynamics simulation for this kind of shipborne *** results of visual simulation show that this system is workable and *** is an important simulation environment for the study of the crane's operation on the sea and offers a very effective,economical means or approach for the research and development of other similar systems.

关键词： Shipborne Crane visual simulation system OpenGL Design and Implementation

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Experimental Study on the Flow and Diffusion Laws of Heterogeneous Gangue Slurry in Mining Space

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ROCK MECHANICS AND ROCK ENGINEERING 2025年第2期58卷 2589-2605页

作者： Zhou, Nan Zhang, Jixiong Xu, Jianfei Wang, Haodong Liu, Sixu Li, Meng An, Tailong China Univ Min & Technol Sch Mines Xuzhou 221116 Jiangsu Peoples R China China Univ Min & Technol Minist Educ Key Lab Deep Coal Resource Min Xuzhou 221116 Jiangsu Peoples R China Energy Bur Inner Mongolia Autonomous Reg Inner Mongolia Autonomous Reg Energy Technol Ctr Hohhot 010098 Peoples R China

Gangue grouting and backfilling for the mining space is an effective measure to address the substantial discharge of gangue in coal mining and the extensive mining space. The flow and diffusion characteristics and laws of gangue slurry directly determine the success or failure of gangue grouting and backfilling mining. In this study, a self-designed gangue grouting and backfilling simulation test system was developed with a visual backfilling function, the flow and diffusion characteristics and distribution shape of gangue slurry in the mining space were obtained, and the influence of porosity, injection pressure, and slurry properties on the diffusion range of gangue slurry was revealed. The results show that the gangue slurry undergoes both horizontal and vertical diffusion in the mining space and the diffusion process is divided into three stages: rapid diffusion stage, stable seepage stage, and horizontal expansion stage. The distribution shape of the gangue slurry is a combination of circular cones of different sizes. The linear growth relation between the diffusion range and vertical depth of gangue slurry gradually transforms into a nonlinear growth relation with the increase of grouting pressure. The increase of porosity enhances the vertical diffusion of gangue slurry and the increase of injection pressure prolongs the amplitude of horizontal diffusion. Besides, the presence of coarse-grained gangue has a significant influence on the slurry diffusion range. When the outlet pressure of the actual grouting is between 2 and 6 MPa, the diffusion range of the gangue slurry is about 300 m. This research provides a theoretical foundation for investigating the control effect of surface deformation and the design of key parameters in gangue grouting and backfilling within mining spaces.

关键词： Mining spaces Heterogeneous gangue slurry Backfilling mining visual simulation system Slurry diffusion range

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Virtual simulation Study of Shipborne Manipulator Based on CMAC Control

Virtual Simulation Study of Shipborne Manipulator Based on C...

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International Conference on Industrial Mechatronics and Automation

作者： Li, Peng Su, Baoku Li, Peng Harbin Inst Technol Harbin 150006 Peoples R China

ISBN: (纸本)9781424438181

the shipborne manipulator studied in this paper is a new foldaway crane system with retractable arms working on ships and controlled by the drive of its hydraulic system. A visual simulation system for this shipborne manipulator with virtual reality (VR) completed by OpenGL is studied and put up with based on the synthetical research of the characteristics and work condition for this kind of shipborne manipulator. The main characteristics of structure and functions of the simulation system are also presented. The intelligent controller based on CMAC (Cerebellar Model Articulation Controller) is described. It is a useful simulation model and system for the further study on the kinematics and dynamics control theory of this kind of system similar as robot. The results of simulation show that controller has good stability and accuracy and the virtual simulation system is workable and effective. This system is not only an important virtual environment for the crane's work on the sea but also the necessary reference of training for the operator and control.

关键词： Shipborne Manipulators visual simulation system Virtual Reality(VR) CMAC control OpenGL

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Modeling for Ship Heave and Pitch Motions in Waves Based on Conformal Mapping Method

Modeling for Ship Heave and Pitch Motions in Waves Based on ...

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4th International Conference on Information, Cybernetics and Computational Social systems (ICCSS)

作者： Zhang Teng Ren Jun-sheng Bai Wei-wei Sun Wei Hu Jing-yu Dalian Maritime Univ Key Lab Marine Simulat & Control Dalian Peoples R China China Classificat Soc Offshore Engn Technol Ctr Tianjin Peoples R China Dalian Maritime Univ Nav Coll Dalian Peoples R China

ISBN: (纸本)9781538632574

To develop maritime simulator, mathematical model for ship heave and pitch motions has been established based on conformal mapping method. To verify the validity of the mathematical model, the numerical simulation research is carried out with Wigley model III in regular waves with different Froude number. Comparisons between the simulation results and the experimental data manifest that the proposed mathematical model is correct and reliable. Then the mathematical model accesses maritime simulator's visual simulation system achieving a favorable effect.

关键词： maritime simulator mathematical model heave and pitch conformal mapping visual simulation system

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Research on Police Weapon Virtual simulation Training system

Research on Police Weapon Virtual Simulation Training System

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作者： Jiashan Huang Jilin Police College

In Order to Improve Police officers’ Capability to Using Gun in Actual Combat,and Meanwhile Solving the Several Accidental Discharge Problems That Occur When the Police Use Weapons Such as Pistols,This Study Develops and Establishes a Distributed Virtual simulation system Based on Hla and Composed of Multiple Federal *** system,with Makvr-Link as the Development Environment,Constructed the simulation Implementation Model of Each Subsystem That Constitutes the system According to the Federal Development Execution Process,Including the Bullet Trajectory Model and Delaunay Triangulation,and Finally Simulated the Omnidirectional Pistol Training Environment through the visual simulation *** a Series of Tests,It Shows That the Constrained Delaunay Algorithm is More Efficient,and the Error in Using the system for Training is Stabilized within a Certain *** Network Communication Time Can Meet the Real-Time Requirements of the *** Follows That That the system Established in This Study Can Meet the Requirements of Virtual simulation Design and the Training Need of the Police Force or Police Colleges.

关键词： Practical Gun Bullet Trajectory Model Delaunay Triangulation visual simulation system Algorithm Efficiency

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