Computer planning and simulation of construction erection processes using single or multiple cranes

The purpose of this research is to develop knowledge and tools required to improve erection processes in construction. Goals of this research include the development of computational tools to facilitate the work of erection planners and crane operators as well as the development of computational methods that in the future could allow fully automated erection processes to take place in construction projects. A major effort in this research is devoted to modeling construction cranes and their activities by mathematical approaches and to the development of computational methods to simulate and visualize erection processes in a virtual world created on computers.; This research utilized information technologies to improve erection planning and erection operations. Construction cranes are treated as robots and analyzed by using Denavit-Hartenberg notation, a general method to describe robots mathematically. Using computer graphics techniques, cranes activities are visualized in a computer virtual environment. Motion planning methods are used to allow robotic cranes search collision free paths that minimize erection times and synchronize their activities between the nearby cranes.; This thesis describes in detail the computational methods developed in this research, including the following aspects: (1) the processes for modeling construction cranes using robotics; (2) searching optimum (time efficient) and collision-free (safe) paths for each piece to be erected; (3) methods to coordinate the motions of multiple cranes in a jobsite; (4) structural dynamics to simulate crane and element motions, including the dynamic motion generated by inertia forces; (5) computer graphics techniques used to animate and visualize the erection in operational details; (6) automatic translation of three-dimensional engineering models, that structural engineers use to analyze and design the structure to three-dimensional construction erection models, which describe in detail the geometry of each member that needs to be erected by a crane.; A computer prototype system was implemented to integrate all the computational methods developed in the research. This system aims to be used both before and during erection. In particular, the computer system allows users to simulate and virtually visualize the erection processes before they are conducted in the field.