iCRANE an intelligent crane system

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iCRANE an intelligent crane system
Conference of Building Futures Council (BFC) Las
Vegas, March 17 2005 ShihChung Jessy
Kang Prof. Eduardo Miranda Design and
Construction Integration (DCI) Department of
Civil and Environmental Engineering STANFORD
UNIVERSITY
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Goal of the iCrane

• We are developing computation methods and a
  computer program to plan, simulate, and visualize
  the operation of an intelligent crane.

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State-of-practice
Construction planning of Taipei 101
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Erection cost is increasing
Cost structure of steel construction in the U.S.
(Source Carter et al. 2000)
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Crane-related accidents
Reasons of crane-related fatal accidents
Source Statistics in Occupation Safety and
Health for Administration (OSHA) 1984-1994
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Functions of iCrane
Path planning
Cable dynamics
Real-time details
Collision detecting
Crane coordination
Scheduling
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Computation methods in iCrane
User
visualize and simulate the crane operation
dynamically
generate accurate and detailed schedule in the
operational level
cooperate with other cranes to complete
construction erection
find the collision-free and time-optimal paths to
erect structural elements
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How to find an erection path?
Target
Start
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How to find an erection path?

• Sample points in the crane working area
• Link and find a collision-free path

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Path-finding in iCrane
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How to coordinate the tasks between multiple
cranes?
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How to coordinate the tasks of multiple cranes?

• Phase 1 each crane plans its path individually
• Phase 2 coordinate the velocities to avoid
  collisions

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Demo

• Introduction to iCrane
• Video Clip

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Workflow of iCrane
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Toward fully robotic construction
Fully automated robotics construction
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Thank You

• ShihChung Jessy Kang
• jessy_at_stanford.edu

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iCrane system
3D Model
Project Constructed Virtually

• Increase safety
• Detailed optimized scheduled
• Realistic visualization
• Full automation
• Improved constructability

iCrane
Acknowledgements This work has benefited greatly
from discussions with Prof. Jean-Claude Latombe
and Mr. Xiaoshan Pan.