Working time optimal planning of construction site served by a single tower crane

• Published in: Journal of mechanical science and technology Vol. 30; no. 6; pp. 2793 - 2804
• Main Author: Tubaileh, Allan
• Format: Journal Article
• Language: English
• Published: Seoul Korean Society of Mechanical Engineers 01.06.2016; Springer Nature B.V; 대한기계학회
• Subjects: Acceleration; Algorithms; Computer simulation; Construction planning; Construction sites; Continuity (mathematics); Control; Cranes; Dynamic models; Dynamical Systems; Engineering; Industrial and Production Engineering; Kinematics; Mathematical models; Mechanical Engineering; Optimization; Robots; Simulated annealing; Tower cranes; Vibration; Working hours; 기계공학; Crane optimum location; Crane trajectory; Robotic construction; Simulated annealing
• ISSN: 1738-494X; 1976-3824
• DOI: 10.1007/s12206-016-0346-8

We present a method for optimizing the layout of single tower crane and supply material locations. The crane is treated as a robot with multi degrees-of-freedom and the displacement of each joint is expressed as a cubic spline. A mathematical model is developed to generate working time optimized crane operations. Both kinematics and dynamic models are presented to describe the crane motion requirements and limitations. The constraints imposed on crane velocity, acceleration, jerk and power are considered in order to provide efficient planning and scheduling of crane operations, as well as improving the general performance and safety aspects of the crane. Solutions of the presented problem are composed of continuous and discrete variables. The continuous variables are obtained by solving the nonlinear optimization model using the NAG optimization toolbox. On the other hand, a simulated annealing algorithm is developed to obtain the discrete variables. To demonstrate the feasibility of the presented method, numerical examples have been tested and compared with other crane optimal planning methods.