Probabilistic systems availability analysis in Helios-SAVANT

A presentation on probabilistic systems availability analysis tool made in February 2008.
http://www.scribd.com/doc/2519095/Probabilistic-Analysis-of-Safe-Return-To-Port-Public-Version

Simulation of Deck Crane

Screenshot of simulation of deck crane:







Used the Lagrangian formulation to derive the equation of motion.
The Denavit-Hartenberg convention is used in specifying the kinematics of the crane's links.
Following is the equation of motion of the suspended cable (which is treated as a spherical pendulum).

phidotdot=-(m*thetadot*l^2*sin(2*theta)*phidot
+2*m*ldot*l*sin^2(theta)*phidot
-m*l*sin(theta)*sin(phi)*sxdotdot
+m*l*sin(theta)*cos(phi)*sydotdot
+k*phi
+ _dampingCoeffPhi*phidot)
/(m*l^2*sin^2(theta)+r);


thetadotdot= (-1.*cos(theta)*cos(phi)*sxdotdot
-cos(theta)*sin(phi)*sydotdot
-sin(theta)*szdotdot-g*sin(theta)
-2*thetadot*ldot
+l*sin(theta)*phidot^2*cos(theta)
-_dampingCoeffTheta*thetadot)/l ;



sxdotdot, sydotdot and szdotdot are components of the acceleration of the suspension point, l is the suspended length. The mass of the load is m, r is the inertia of the spin motion of the load, k is the stiffness of the spin motion. Two damping coefficients _dampingCoeffTheta , and _dampingCoeffPhi were added after the equation was derived using the conservative Lagrangian method.

Following is a powerpoint presentation file on the above:
http://www.scribd.com/doc/2519046/APCDemoSlidesFinal2

Compit 2007 Cortona Tuscany Italy

The slides I used in the presentation are available here :
http://www.scribd.com/doc/38761/Compit07

Article for compit 2007

A paper on the port simulation functionality of Helios was written for Compit 2007 (Tuscany, Italy April 2007).
Following is a web link to the paper:

http://www.geocities.com/jaymaj21/compit07/index.htm

pdf now supports 3d models

The following pdf file contains a couple of 3d snaps of helios vehicle simulation.
Can be viewed in adobe acrobat reader versions above v7.

http://homepages.strath.ac.uk/~lhs03125/pdf_3d_sample.pdf

Colors on the superposed mesh

(Touched Helios code after a long time.)
I have been using the same drawing code for the meshes to be colored on the fly and the meshes to be pre-colored. So I kept the display list for the entire 3ds meshes free from glColor??? calls.
Diversified it now so that the background mesh and other preloaded meshes can have their predefined colors.

My paper in iccas 2005

Automated Generation of Shipboard Environment Model for Simulation and Design