Transcript Why Monitor Berthing Impacts and Mooring

BIM -- Berthing Impact Monitoring
A new technique that measures the
impacts between ships and docks
Collects base data for many marine
safety applications
BIM is a concept, not a product.
Its approach and design has been
evolving since 2005
Why Monitor Berthing Impacts
Provide Berthing Impact Measurement and
Visualization
Provide Berthing Accident and Fender
Damage Warnings
Analyze and Understand Berthing Impacts
Improve Dock and Ship Design to Minimizes
Damages Caused by Berthing Impacts
Two Types of Impacts
Two categories to be studied from different angles.
Berthing impacts
•
•
•
•
Infrequent, caused by ship berthing
High contact speed and high amplitude
Leads to deep fender compression
Useful for accident and damage detection.
Mooring fatigue impacts
•
•
•
•
Frequent, caused by ship mooring oscillations
Low contact speed, low amplitude
Leads to shallow and cyclical fender compressions
Useful for long term dock – ship structural study.
BIM Principle - General
Stem from Inertial Guidance System, or motion tracking using
measured acceleration
• Accelerometer – linear acceleration
• Gyroscope – angular acceleration
Use marine fender system as berthing impact monitoring
medium
Tracks fender motions using specialty INS algorithm and produce
dynamic 3D model of the fender system in a computer
Measure berthing impact using known correlations with fender
motions
BIM System Structure
Pyramid Structure System
Base Tier – PSU ( Field Installation )
• Positioning Sensor Unit, integrates a MCU, an accelerometer,
a gyroscope, a magnetic sensor, and other specialty sensors
Middle Tier – LIS ( Field Installation )
• Local Interface Station, high powered MCU that
communicates with PSU and CS, and controls fender system
AV alarm device
Peak of the Pyramid – CS ( Control Room )
• Central Station, a computer workstation with network
connections with field LIS and other network computers
BIM System Schematics
PSU are mounted on
predetermined locations on
fender frontal structure
CS continuously updates
position and heading of fender
model using PSU real time
coordinates
3D model yields real time
fender system geometry and
motion characteristics ( angles,
velocities, and displacements )
Mechanical Design & Installation
Components Per Fender System
•
•
•
•
One LIS enclosure, with main battery.
A number of PSU enclosures
Antenna and AV alarm device
Optional auxiliary battery enclosure
Internal Installation
• For new fender system installation
• Installed inside fender frontal structure
External Installation
• For existing fender system installation
• Anti fouling design with minor protrusion
• Require design review to avoid conflict with existing fender system
BIM Principle – Impact Energy Amplitude
Ship Berthing Contact Velociy Vix -- The initial movement speed
reading of the first fender system contacted by the ship during a
berthing
Ship Berthing Impact Kinetic Energy Amplitude Es is calculated based
on Vix and known ship and dock characteristics

Es = 1/2 M x V^2 x Ce x Cm x Cs x Cc







Whereas
M: ship loaded mass
V: MEASURED ship berthing configuration velocity Vix
Ce: ship eccentric coefficient
Cm: ship mass coefficient
Cs: ship softness coefficient
Cc: berth configuration factor
BIM Principle – Impact Load Amplitude
BIM monitors compression displacements of all fender
elastomers and interpolates their real time reaction forces using
their C-RE curve
Instantaneous Berthing Impact Load RT = total fender reaction
force of all fender elastomers compressed by the berthing ship
BIM Interpretations,
Terminologies & Definitions
Indicators
DX
DXP
DY
DZ
Interpretation
Indicates fender compression displacment due to ship contact, used to derive compression rate
Indicates fender displacement away from the pier due to abnormal berthing / fender damage
Indicates fender displacement due to ship movement along the pier
Indicates fender displacement due to wave surge and fender panel upward & downward impact
AFHA
AFVA
AFTA
AT PSU N n
Indicates fender horizontal angular compression due to berthing angle
Indicates fender vertical angular compression due to flare, or top and bottom loading
Indicates fender twist around fender axis
Attitude angle arrays of PSUs on the same BIM sub system.
VX
VY
VZ
Indicates fender compression speed
Indicates how fast the ship is moving along the pier
Indicates how fast the ship is moving vertically
VIX
Indicates the ship's initial contacting / berthing speed
CNn
ENn
EN
ET
Indicates the compression rate of an indivisual fender elastomer
Indicates energy absorbed by each individual fender elastomer
Indicates energy absorbe by each fender system
Indicates the total energy absorbed by all fender systems during a berthing
ES
Indicates the ship's kinetic energy based on initial berthing speed Vix
RNn
Indicates reaction force of each indivdual fender elastomer
RN
Indicates reaction force of each fender system
RT
Indicates the total instantaneous reaction force of all fender systems
ACFNn
ACRNn
ACANn
Accumulated compression ( fatigue) on 3 axes of each fender element ( if not replaced with new )
Accumulated compression ( rated) on 3 axes of each fender element ( if not replaced with new )
Accumulated compression ( alarm) on 3 axes of each fender element ( if not replaced with new )
BIM Graphic User Interface
Berth Overview Window
• Birdseye view of a marine terminal and its BIM system status
Fender System View Window
•
•
•
•
•
•
Monitoring details of one particular fender system
Five real time 2D views of the fender system
Real time 3D view of the fender system
Comprehensive data - warning table
Integrated ER curve view
Fender system navigation window
Provides many other functions such as
historical data replay and research
BIM – Comprehensive Fender
Monitoring
Excessive fender system motion warnings
Permanent fender system damage detection
• System permanent deformation
• Frontal structure permanent deformation
• System restraints damage
Fender system design improvement recommendation
•
•
•
•
Insufficient / diminished fender energy capacity
Insufficient fender panel design
Insufficient restraints
Insufficient fender arrangement
Fender motion historical database
Moored Vessel Accidental Drift Monitoring
BIM monitors the “absence” of mooring fatigue impacts
Drifting signature 1 – excessive "Non Impact Intervals“
(NII)
Drifting signature 2 -- “Vessel Drift Pattern”
• “NII“ emerge on one end of the berth, and spread towards the center and
go beyond a "pivot point”
Vessel Drift Alarm trigger upon detection of drifting signature
Mathematic Foundation
To convert the attitude measurements of the fender frontal
structure for 3D rendering
Input Method - Euler Angles algorithm
• Simplicity
Attitude Matrix Conversion - Quaternion algorithm
• Low computation & data storage strain, orthogonality and low data divergence
Output – Rational Vectors
• Easy 3D rendering without Gimbal lock
Calibration & Synchronization
BIM Calibration Apparatus
• Numerical controlled 3 axis rotation platform with digital feedback
Motion Sensor
• Stationary state calibration
• 3 axis rotation calibration with Kalman filters
Magnetic Sensor calibration
• 3 axis rotation deriving compensation values in XY / XZ / YZ plane
MCU Clock Synchronization
• Sensor data issued with time stamp by MCU
• Routine time synchronization amongst MCU clock
Error Correction
External Reference
• Additional sensors such as magnetic field sensors
Arbitrary Recalibration
• BIM automatically recalibrate upon stationary state
Redundant data Set
• Multiple PSU installed on the same fender system to provide
multiple data sets for weighted average, or error detection by
comparison
Known Geometry Correction
• Correction performed when measured system design geometry
deviates from design geometry in non deformation scenario
Future of BIM Technique
BIM Development Team
Johnny Qiu – Author, Original Concept / Functionality / GUI Design
Wei Yu – Co-author, System Design, Software Programming
Guoping Tang – Hardware & Mechanical Design
Weimin Xia – Software Programming
Cuiping Jin – Fender Integration Design
COPRI / PIANC PORTS 2013
Aug. 25-Aug. 28. 2013
Sheraton Seattle Hotel
1400 Sixth Avenue
Seattle, WA 98101, USA
PIANC Smart River 2013
Sept. 26, 2013 ( Paper No. 193 )
Palais des Congrès
Esplanade de l'Europe 2/A, 4020
Liege, Belgium
Thank You !
Contact Information
Zalda Technology
Integrated Solutions for Berthing, Fendering, and Mooring
2488 Technology Dr.
Hayward, CA 94545-4867
T. +1 510-783-4910
F. +1 510-783-1897
W. www.zaldatechnology.com/BIM.html
E. [email protected]