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Article history: Since various existing simulation tools based on multibody system dynamics focus on conventional
Received 28 November 2014 mechanical systems, such as machinery, cars, and spacecraft, there are some problems with the applica-
Received in revised form 19 January 2015 tion of such simulation tools to shipbuilding domains due to the absence of specic items in the eld of
Accepted 15 February 2015
naval architecture and ocean engineering, such as hydrostatics, hydrodynamics, and mooring forces.
Available online 6 March 2015
Thus, in this study, we developed a multibody system dynamics simulator for the process simulation
of ships and offshore structures. We based the simulator on six kernels: the multibody system dynamics
Keywords:
kernel, the force calculation kernel, the numerical analysis kernel, the hybrid simulation kernel, the
Multibody system dynamics
Modeling and simulation
scenario management kernel, and the collision detection kernel. Based on these kernels, we implemented
Ship a simulator that had the following Graphic User Interfaces (GUIs): the modeling, visualization, and report
Offshore plant GUIs. In addition, the geometric properties of blocks and facilities in shipyards are needed to congure
Scenario management the simulation for the production of ships and offshore plants, so these are managed in a database and
Lifting connected to a specic commercial CAD system in shipyards. We used the simulator we developed in
Transporting various cases of the process simulation of ships and offshore plants. The results show that the simulator
is useful for various simulations of operations in shipyards and offshore industries.
2015 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.advengsoft.2015.02.008
0965-9978/ 2015 Elsevier Ltd. All rights reserved.
S. Ha et al. / Advances in Engineering Software 85 (2015) 1225 13
Table 1
Summary of related works and comparison with this study.
Kernels
Scenario Management Force Calculation Kernel
Kernel
Combination of Actors External Forces
Hybrid DEVS/DTSS Wind, Current, Control, etc.
Kernel
Discrete Event & Time Simulation
Collision Detection Interactive Forces
Wire Rope, Contact, Mooring, etc.
Kernel
Broad & Narrow Phase
Numerical Analysis Forces Acting On Floater
Kernel Hydrostatic, Hydrodynamic
Euler, Runge-Kutta, Adams-Bashforth, etc.
Multibody System Dynamics
Kernel
Recursive Newton-Euler Formulation
Database
Block Facility
Geometry & Geometry &
Property Property
Fig. 2. Conguration of the multibody system dynamics simulator for the process simulation of ships and offshore plants.
system to a given applied force, and the calculation of the inverse forces, interactive forces, and forces that act on a oater such as
dynamics, or of the force that must be applied to a given rigid body a ship or an offshore plant. External forces act on a body or joint.
system to produce a given acceleration response. The equations of Some forces such as wind and current forces are caused by the
motion for each body of a multibody system based on recursive environment, and other forces, such as the controlling force, are
formulation can be summarized as follows. planned by an engineer. Interactive forces act on two or more bod-
ies by interconnecting them with a certain mechanical system (for
v^ i i Xi1 v^ i1 Si q_ i ; a^i i Xi1 a^i1 Si qi S_ i q_ i v^ i Si q_ i
example, a wire rope or a spring) or by colliding them. A tension
^f B ^I a ^ i ; ^f i ^f Bi i Xi1 ^f i1 ^f ext
^ i ^Ii v
i i ^i v i force caused by a wire rope, a contact force caused by colliding
si STi ^f i two rigid bodies, and a mooring force are examples of interactive
forces. Moreover, a load-balancing system, called an equalizer
1 in shipyards, is also considered a type of this kernel. To apply
equivalent tensions to all wires, the length of each wire is con-
3.2.2. Force calculation kernel trolled in proportion to the tension that acts on it after classifying
The force calculation kernel calculates the forces that act on the it as an equalizer.
multibody system. Some forces act on a rigid body of the system, The forces that act on a oater are only existing forces on the
and other forces act on a joint of the system. As shown in Fig. 2, domain in ships and offshore plants (actually, these are kinds of
the force calculation kernel has three kinds of forces: external external forces). There are two kinds of these forces: hydrostatic
S. Ha et al. / Advances in Engineering Software 85 (2015) 1225 15
Wire Target: W1
Action: hoist (down)
Actor
and hydrodynamic forces. The hydrostatic force applied to a oat- Kutta method is used. Because of this problem, this system supports
ing body is calculated while considering the bodys instantaneous other numerical integration methods for the achievement of
position, and is expressed as follows. numerical stability, and the user can choose one method depending
" Z Z Z #T on his or her case. Using the kernel, the integrator integrates the
^f ext q;t q g 0; 0; dV; y dV; xBuoy dV; 0 equations of motion and calculates the position and velocity of each
Hydrostatic sw Buoy
Vq;t Vq;t Vq;t body in the given systems at each time unit.
2
3.2.4. Hybrid DEVS/DTSS kernel
In the preceding equation, qsw is the density of sea water, g is There are two kinds of simulation. A simulation in which the
the gravitational acceleration, V(q, t) is the submerged volume of state of a model changes by means of any event is called discrete
the oating body, and xBuoy and yBuoy are the coordinates of the cen- event simulation. The discrete event simulation processes events,
ter of buoyancy. The shape of a rigid body is modeled as a trigonal- which change the state variables of a model, in the order in which
ized mesh. To calculate the physical properties of the submerged they occur. A simulation that calculates the state of a model at each
volume of the oating platform, its mesh is rst intersected with unit time is called discrete time simulation. It is mostly used to
the waterplane, after which the mesh under the waterplane is cho- analyze dynamic or mechanical systems because it calculates the
sen. Then this mesh is divided into a number of tetrahedrons using state of a model at each time unit.
the triangles on the mesh surface, and the submerged volume of Zeigler et al. [16] proposed formal structures, DEVS, and dis-
the oating platform can be calculated by summarizing the vol- crete time system specications (DTSS) for handling simulation
umes of the tetrahedrons. Other physical properties, including models of discrete events and times. They are widely used as stan-
the center of buoyancy and the second moment of the submerged dard modeling and simulation formalisms. The DEVS formalism is
volume, are also similarly calculated [14]. The hydrodynamic force a hierarchical and modular modeling approach centered on the
is calculated in the time domain using the 3D Rankine panel state concept. In its basic form, it does not consider the system
method. The hydrodynamic force exerted on a oating body can structure evolution. Instead, only the states can evolve or move.
be determined by integrating the pressure over the wet surface, Each system is described functionally (behaviorally) and struc-
as shown in the following equation. turally. Likewise, the DEVS formalism is composed of two types
2 3T of models: atomic models and coupled models. The atomic model
ZZ ZZ
^f ext 4 @/ @/ represents the basic behavior of the system, and the computed
hydrodynamic ndS13 ; r ndS13 5 3
@t @t model denotes its internal structure. On the other hand, the cou-
S S
pled model assembles several atomic and/or coupled models to
In the preceding equation, S is the submerged surface, and r is build a complex system hierarchy.
each panels position vector located on the bodys surface dened The DTSS formalism is a model structure that continuously cal-
in body-xed coordination. The algorithms for the calculation of culates the state of a model at each time unit. An atomic model
these forces were studied in previous works [15,13] and modular- based on DTSS formalism has a structure similar to that of the
ized in this study. DEVS formalism. In addition, it is connected to the atomic model
of DEVS formalism. Its overall system is composed of a set of com-
3.2.3. Numerical analysis kernel ponent models, either atomic or coupled, and thus, has a hierarchi-
To simulate and analyze the dynamic phenomena in the ship- cal structure. Each DEVS or DTSS model, also either atomic or
building process for each time unit, a numerical analysis kernel coupled, corresponds to an object in the real system to be modeled.
was developed in this study. Because of some strict cases of simula- Bang developed a simulation framework based on the hybrid
tion for the production of ships and offshore plants, the numerical DEVS and DTSS formalism [17]. To evaluate the efciency and
analysis kernel provides various numerical integration methods applicability of this simulation framework, it was applied to the
such as the Euler method, RungeKutta method, Adams block erection process in shipbuilding [8], the dive of a submarine
Bashforth method, and HilberHughesTaylor method. The [18], and an analysis of the evacuation of a passenger ship [19].
RungeKutta method is one of the best solutions for numerical inte- Most analyses based on multibody system dynamics are
gration, but the target block in shipyards is much heavier than the time-based. However, as mentioned in the previous section, the
spring coefcient of wire ropes. Thus, the numerical integration of shipbuilding process is a kind of event-based analysis. Thus, in this
the operation in shipyards is often unstable when the Runge study, the hybrid DEVS and DTSS formalism is used to cover both
16 S. Ha et al. / Advances in Engineering Software 85 (2015) 1225
(f) Timeline
(c) 3D simulation view,
Scenario editor,
Report view
(b) Model
Tree
Fig. 4. Components of the GUI of the multibody dynamics simulator developed in this study: (a) ribbon-style menu, (b) model tree of the target multibody systems, (c) 3D
simulation view, scenario editor, and report view, (d) property editor, (e) log window, and (f) timeline.
Editable
in model tree
time-based and event-based analyses. The simulation kernel devel- multibody system, the scenario can be specied by the combina-
oped by Bang was also used in this study. tion of unit actions. A unit action is a user-dened input that acts
on subcomponents of a multibody system. Each action should be
3.2.5. Scenario management kernel performed at the proper time with the desired functions, so a mod-
In this study, the scenario management kernel was developed el for performing this action, named Actor, was dened. An actor
to help congure a scenario of heavy load operations in shipyards is a user-dened input that acts on a multibody system. All bodies,
or offshore industries. By analyzing a sequence of motions in a joints, and wire ropes in a multibody system can be connected
S. Ha et al. / Advances in Engineering Software 85 (2015) 1225 17
(a) (b) to the rst group of actors, and the crane may move to the desired
position and orientation.
Body 0
Joint 0
Joint Actor 1 Joint Actor 3
Body 1 Target: Joint 0 Target: Joint 0 3.2.6. Collision detection kernel
(Link 1) Degree: 45 Degree: 90 To minimize the risk during the production of ships and off-
shore plants, the interferences among the bodies and wire ropes
Joint 1 Joint Actor 2 must be checked. One of the functions of the collision detection
Target: Joint 1 kernel is to detect their collision with other bodies and wire ropes
Body 2 Degree: 30
during the simulation, which is particularly important as there can
(Link 2)
be more than 10,000 subcomponents and pieces. The collision
detection modules available to the public are OPCODE, RAPID,
Fig. 8. Double compound pendulum: (a) system conguration and (b) scenario I-COLLIDE, V-COLLIDE, SWIFT++, etc. The collision detection kernel
conguration. was based on some of these modules and it modularized them.
Fig. 9. Conguration of the double compound pendulum system and scenario conguration using the developed simulator.
S. Ha et al. / Advances in Engineering Software 85 (2015) 1225 19
Actor 1 and 2 Actor 2 was deactivated. Actor 3 was activated. All actors were
were activated. Actor 1 is still activated. deactivated.
Fig. 10. Simulation result: Change in the Euler angles Body 1 of the double compound pendulum.
Actor 1 and 2 Actor 2 was deactivated. Actor 3 was activated. All actors were
were activated. Actor 1 is still activated. deactivated.
Fig. 11. Simulation result: Change in the Euler angles Body 2 of the double compound pendulum.
the actors, and the priority of each actor can be set by connecting it process. In this paper, two such examples are presented: the dou-
with the other actors. ble compound pendulum, and the block-lifting, transportation, and
The developed simulator also has the visualization GUI. The turnover simulation using two goliath cranes.
visualization GUI is used to manipulate multibodies in the 3D
simulation view, as shown in Fig. 4. Finally, Fig. 7 shows an exam-
ple of the report GUI developed in this study. To generate simula- 4.1. Double compound pendulum
tion reports, the target items should be chosen before the
simulation is started. After the start of the simulation, the report 4.1.1. Overview
GUI supports a real-time view of the simulation results, as shown To verify the functions of the simulator, it was rst applied to a
in Fig. 7. simple example, the double compound pendulum, with a simple
scenario. Fig. 8(a) shows the conguration of the double compound
pendulum. Any swinging rigid body free to rotate around a xed
4. Applications of the multibody system dynamics simulator horizontal axis is called a compound pendulum. As shown in
Fig. 8(a), Bodies 0, 1, and 2 are rigid bodies, and Body 1 is intercon-
To conrm the exibility and usefulness of the developed nected to Bodies 0 and 2 with rotational joints. Body 0 is xed to
simulator, it was applied to various examples in the shipbuilding the inertial space and does not move.
20 S. Ha et al. / Advances in Engineering Software 85 (2015) 1225
Lower Trolley
3. Turn-over
Block Loader
Goliath Crane 2
Block
(P0025-S03S) Goliath Crane 1
(a) (b)
Fig. 12. Two goliath cranes and a block for the block-lifting, transportation, and turnover procedure: (a) the conceptual modeling result of the simulation and (b) the
operation sequence.
Multibody Scenario
Multibody
Block Goliath Crane GOC201
Body
Actor
Wire Upper Trolley Action List
Multibody
Wire 1)
Block Loader Actor Joint GOC201s Upper Trolley:
Actor Actor
Hoist: 0.083m/s, -3.9m
GOC201s Lower Trolley:
Joint Body Hoist: 0.083m/s, -3.9m
Multibody Body GOC202s Upper Trolley:
Dock Hoist: 0.083m/s, -3.9m
Actor Joint GOC202s Lower Trolley:
Hoist: 0.083m/s, -3.9m
Fig. 13. Dynamics models, simulation models, and scenario for the block-lifting and transportation simulation.
4.1.2. Scenario conguration on the left will be activated simultaneously just after the simula-
In the rest of the double compound pendulum, its subcompo- tion starts, and the actor on the right will be activated after the
nents, i.e., rigid bodies, do not move. Thus, it attempts to act via two actors on the left nish their jobs.
external forces to its joints step by step. At rst, we simultaneously
changed the angle of Joint 0 to 45 and the angle of Joint 1 to 30.
Then we rotated Joint 0 by an additional 90. These two actions can 4.1.3. Simulation results
be represented in a scenario using the joint actor. Fig. 8(b) shows Figs. 10 and 11 show the simulation results of the double com-
this scenario represented by multiple joint actors. When the pound pendulum with the given scenario mentioned in the previ-
simulation starts, Joint Actors 1 and 2 in Fig. 8(b) will be activated, ous section. As shown in Figs. 10 and 11, the change in the Euler
so the external forces will act on the target joints Joints 0 and 1. angles of each body is divided in four steps. The simulation started,
These actors will be deactivated when Joint 0 reaches 45 and and Actors 1 and 2 were activated simultaneously. Actor 1 tried to
when Joint 1 reaches 30. When each joint nishes its job, it will change the degree of Joint 0 to 45, and Actor 2 tried to change the
send a trigger to the connected joint, Joint Actor 3 in this example. degree of Joint 1 to 30. Since we set those angular velocities to be
Since Joint Actor 3 gets two triggers one each from Joint Actors 1 the same, Actor 2 obviously did its job faster than Actor 1 did. Thus,
and 2 it will nally be activated and will act on an external force about 516 s after the simulation started, Actor 1 was still activat-
to the connected joint (Joint 0) to rotate it by an additional 90. ed, but Actor 2 was deactivated after 5 s. After about 16 s, Actor 1
Fig. 9 shows the conguration of the double compound pendu- was also deactivated, and then Actor 3 was activated. Actor 3 tried
lum and the scenario conguration using the developed scenario to change the angle of Joint 0, so the angles of Joints 0 and 1 were
manager. Fig. 9(a) shows that three rigid bodies are modeled and changed. After Joint 0 was rotated by an additional 90, Actor 3 was
interconnected using two rotating joints. In Fig. 9(b), three joint deactivated, and the execution of the scenario was nished after
actors are used to represent the given scenario. The two actors about 25 s.
S. Ha et al. / Advances in Engineering Software 85 (2015) 1225 21
Fig. 14. Block-lifting, transportation, and turnover simulation using two goliath cranes: Scenario conguration using the developed simulator.
VQP
Time
$NQEM $NQEM $NQEM $NQEM
.KHVKPI .KHVKPI 6WTPQXGT 6WTPQXGT
UVCTVU GPFU UVCTVU GPFU
)QNKCVJETCPG )QNKCVJETCPG
UVCTVUVQOQXGVQVJGFQEM GPFUVQOQXGVQVJGFQEM
Fig. 15. Tension of Block Loader 1 calculated in the block-lifting, transportation, and turnover simulation using the developed simulator.
4.2. Block-lifting, transportation, and turnover simulation using two turnover process using two goliath cranes on a dry dock. The block
goliath cranes with a weight of about 920 tons is connected to two goliath cranes
via wire ropes. Some parts of these wire ropes are grouped by a
4.2.1. Overview block loader. Fig. 12(b) shows a sequence of the operation for the
The block-lifting, transportation, and turnover procedure is the block-lifting, transportation, and turnover process. At rst, two
most frequently implemented production process in shipyards. goliath cranes lift the block by shortening the connected wire
Fig. 12 shows an example of a block-lifting, transportation, and ropes. Then the two goliath cranes move to a certain location to
22 S. Ha et al. / Advances in Engineering Software 85 (2015) 1225
3500Ton Block
Block
3000Ton FC Dock
gate Ground
(d)
(e)
Fig. 16. Lifting and transportation of a mega-block using two goliath cranes and a oating crane: (a) the target mega-block with a weight of 3500 tons, (b) the two goliath
cranes, and (c)(e) the operation sequence.
Floating crane
(based on multibody dynamics)
Target block
Fig. 17. Result of the conceptual modeling of the lifting and transportation operation simulation.
move the block into the dock. Finally, the goliath cranes continue shown in Fig. 12(a). The goliath crane is composed of the main body,
the turnover process by alternately shortening and lengthening the upper trolley, and the lower trolley. The upper trolley and the
each wire rope. lower trolley are interconnected with the main body by sliding
To simulate this operation sequence, dynamic models; simula- joints. The block loader consists of two bodies interconnected by
tion models, including actors; and the scenario should be dened. a revolute joint. To simulate the block-lifting and transportation,
The detailed descriptions of the conguration of the simulation dynamic models should be made using the developed multibody
will be explained in the following sections. dynamics kernel.
Wave force
for floating crane
(a) Hoist up (c) Hoist down
(b) Move to dock
Wind force
for block
Fig. 18. Lifting and transportation of a mega-block using two goliath cranes and a oating crane: Scenario conguration using the developed simulator.
x3 x4
Points
connected to wire
x1 x2
x5 x8 x9
Fig. 19. Plan view of the simulation and points connected to the wires.
transportation, and turnover simulation. The actor atomic models wire actor tried to change the length of the target wire rope, so
are allocated to some dynamic models that need to act according the graph shows that the tension that acted on the wire rope
to the action list in the scenario. For example, a joint connects increased. After the block-lifting ended, the goliath crane started
the body Upper Trolley and the body Body, and the joint actor to move to the dock by activating the joint actors on it. Then the
atomic model is allocated to this actor. goliath carne stopped moving and the block turnover started.
In the right box in Fig. 13, the block-lifting, transportation, and This procedure can be conrmed with the change in the tension
turnover sequence scenario is specied using an action list. Various that acted on the wire rope in Fig. 15.
actions are dened in the action list, including an action for moving
the crane and an action for lifting the block up and down. 4.3. Simulation of the lifting and transporting of a mega-block using
Fig. 14 shows the scenario conguration of the target simula- two goliath cranes and a oating crane
tion using the developed simulator. Since the target scenario has
many operations for hoisting the wire up and down, there are 4.3.1. Overview
many wire actors in the scenario, as shown in Fig. 14. At rst, eight A shipyard often requires handling of a mega-block that is about
wire actors were activated and tried to hoist the block up after the more than 500 tons heavy. In this case, multiple cranes should
simulation started [Fig. 14(a)]. Then two joint actors tried to move co-operate to handle the block. Fig. 16 shows an example of the
two goliath cranes to the given position for their turnover and lifting and transportation of a mega-block using two goliath cranes
erection [Fig. 14(b)]. Later, two joint actors for the lower trolley and a oating crane. The block with a weight of about 3500 tons
[Fig. 14(c)] and eight wire actors [Fig. 14(d)] tried to turn the block [Fig. 16(a)] is connected to two goliath cranes [Fig. 16(b)] and a
over. oating crane via wire ropes. Some parts of the wire ropes are
grouped by a block loader. Fig. 16(c)(e) shows a sequence of the
4.2.4. Simulation results block-lifting and transportation operation. At rst, three cranes lift
Fig. 15 shows the simulation results. The graph shows the the block by shortening the connected wire ropes. Then the cranes
change in the tension that acted on Block Loader 1 of the rst crane move along to the right by about 100 meters to move the block into
(GOC201). The results show that the scenario was successfully the dock. Finally, the cranes continue the lift-down process by
progressed by activating and deactivating the actors. At rst, the alternately lengthening each wire rope.
24 S. Ha et al. / Advances in Engineering Software 85 (2015) 1225
7.00E+03
6.00E+03
5.00E+03
4.00E+03 x1
x2
3.00E+03
2.00E+03
1.00E+03
0.00E+00
Time
0 50 100 150 200 250 300 350 400 450
9.00E+03
Hoisting up Transportation Hoisting down
8.00E+03
7.00E+03
6.00E+03
5.00E+03
x3
4.00E+03
x4
3.00E+03
2.00E+03
1.00E+03
0.00E+00 Time
0 50 100 150 200 250 300 350 400 450
Fig. 20. Tensions that acted on the wires of the oating crane during the simulation of the lifting and transportation of a mega-block.
1.40E+03
1.20E+03
1.00E+03
x5
8.00E+02
x8
6.00E+02 x9
4.00E+02
2.00E+02
0.00E+00 Time
0 50 100 150 200 250 300 350 400 450
Fig. 21. Tensions acting on the wires of two goliath cranes during the simulation of the lifting and transportation of a mega-block.
S. Ha et al. / Advances in Engineering Software 85 (2015) 1225 25
The operator wanted to check the following three potential such as to a simulation of the dynamic analysis of the offshore
risks: (a) the interference among the three cranes, (b) the structure and the block assembly process, including the design
load-unbalancing phenomenon due to the wave and wind, and process of ships and offshore plants, such as to the lug arrange-
(c) the dynamic effect according to the change in the tension acting ment of blocks, and will improve the efciency of the developed
on each wire. simulator and its applicability. In addition, we will improve the
developed simulator to make it suitable for treating multibody sys-
4.3.2. Model conguration of the multibody dynamics system tem dynamics for exible bodies.
To analyze the dynamic responses through the simulation, we
assumed that the block-lifting and transportation were carried out Acknowledgements
using two goliath cranes and a oating crane, as shown in Fig. 17.
The goliath crane is composed of the main body, the upper trolley, This work was partially supported by,
and the lower trolley. The upper trolley and the lower trolley are
interconnected with the main body by sliding joints. To simulate (a) Industrial Strategic Technology Development Program
the block-lifting and transportation, dynamics models should be (10035331, Simulation-based Manufacturing Technology
made using the developed multibody dynamics kernel. To consider for Ships and Offshore Plants) funded by the Ministry of
the environmental factors, we also applied hydrostatic and hydro- Trade, Industry & Energy, Republic of Korea,
dynamic forces and wind force. (b) Brain Korea 21 Plus Program (Education and Research Center
for Creative Offshore Plant Engineers of Seoul National
4.3.3. Scenario conguration University) funded by the Ministry of Education, Republic
Fig. 18 shows the scenario for the simulation of the lifting and of Korea,
transportation of a mega-block using two goliath cranes and a (c) Engineering Research Institute of Seoul National University,
oating crane. In Fig. 18, the two body actors on the left are used Republic of Korea,
to consider the environmental factors: the upper actor for the wave (d) Research Institute of Marine Systems Engineering of Seoul
force acting on the oating crane and the lower actor for the wind National University, Republic of Korea, and
force acting on the target block. The rest of the actors describe the (e) Dong-Eui University Grant (2014AA443), Republic of Korea.
procedure of the operation. At rst, three cranes lift the block by
shortening the 10 connected wire ropes. This operation is per-
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