| The US Navy Seabase Senior Design project concerns itself with the design and fabrication of a scale version of a TG3637 ship crane used by the US Navy for at-sea logistics operations. The following will be a discussion of the project specifications and an explanation of the task to be completed by the Computer Science division of the project, the Platform division of the project, and the Scaled Crane division of the project. The software team’s contribution to this project is to port some existing controller code from the C language into a software product called MATLAB. The code will be used in a portion of the MATLAB software called Simulink. In simulink, simulations can be run without the hardware actually being attached. When the hardware is attached it has 6 inputs from a controller called the d-Space controller. The software is meant to dampen the swing of the payload. The code will handle the motion simulated by the Platform team and stabilize the payload on the scaled crane. The software is also designed to be scaled for the large crane. This was a year long project. Below you can find the final report for the project as well as pictures of the final finished project. |
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