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BIM-based Motion Planning of Mobile Crane Operation in Modular-based Heavy Construction Sites Open Access


Other title
Automated Motion Planning, Mobile Crane, BIM
Type of item
Degree grantor
University of Alberta
Author or creator
Han, Sang Hyeok
Supervisor and department
Mohamed Al-Hussein (Department of Civil and Environmental Engineering)
Ahmed Bouferguene (Campus Saint-Jean)
Examining committee member and department
Yasser Mohamed (Department of Civil and Environmental Engineering)
Amit Kumar (Mechanical Engineering)
Osama Moselhi (Dept. of Building, Civil & Env. Eng, University of Concordia
Lijun Deng (Department of Civil and Environmental Engineering)
Department of Civil and Environmental Engineering
Construction Engineering and Management
Date accepted
Graduation date
Doctor of Philosophy
Degree level
Modular-based construction is becoming increasingly a key role in oil sands development in Alberta, Canada. Modules are generally installed by large-capacity mobile cranes based on one of two lifting options: (1) pick from fixed positions, in which case the crane delivers the payloads from a single (fixed) position for the duration of the project; and (2) pick and carrying operation, in which, because of site congestion, the crane is required to walk with the payload until it reaches a location from where it can finally deliver it to its set resting position. Since the current manual-based crane lift planning is time-consuming, costly, tedious, error-prone, and unable to efficiently react to changes in lift schedule and/or site constraints, this research presents a methodology which allows motion planning of mobile cranes to be developed automatically. The series of computer program developed in this research are integrated with external databases and building information modelling (BIM)-based software in order to develop a system that reacts to changes in project site layout and schedule. The core of this work is a 3D visualization module which monitors the motions of the mobile crane body configurations during lifting and carrying operations. Although the 3D module is built upon numerous algorithms, three in particular are mentioned here since they have been specifically developed for crane operations: (i) the procedure which automatically builds the mobile crane operation, (ii) the routine used to calculate lift angles, and, finally, (iii) the function which tracks quasi-dynamically the movements of the payload and the body of the crane in order to identify and eliminate potential collision errors. The developed system also provides collision and lift information for 3D visualization to ensure crane operations do not exceed allowable crane capacity, clearances, and working radii during crane operation. This research also assists practitioners in selecting the most appropriate crane location(s) associated with the module pick positions by evaluating the cycle time of mobile crane operations using simulation. A case study—a modular-based heavy industrial construction project by PCL Industrial Management Inc. in Alberta, Canada—is presented to demonstrate the effectiveness of the proposed methodology.
Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
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