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BIM -- Berthing Impact Monitoring A new technique that measures the impacts between ships and docks Collects base data for many marine safety applications.

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Presentation on theme: "BIM -- Berthing Impact Monitoring A new technique that measures the impacts between ships and docks Collects base data for many marine safety applications."— Presentation transcript:

1 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

2 ? 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 Why Monitor Berthing Impacts

3 Two Types of Impacts Two categories to be studied from different angles. 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. Mooring fatigue impacts Infrequent, caused by ship berthing High contact speed and high amplitude Leads to deep fender compression Useful for accident and damage detection. Berthing impacts

4 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

5 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

6 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 )

7 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

8 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

9 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

10 BIM Interpretations, Terminologies & Definitions IndicatorsInterpretation DXDX Indicates fender compression displacment due to ship contact, used to derive compression rate D XP Indicates fender displacement away from the pier due to abnormal berthing / fender damage DYDY Indicates fender displacement due to ship movement along the pier DZDZ Indicates fender displacement due to wave surge and fender panel upward & downward impact A FHA Indicates fender horizontal angular compression due to berthing angle A FVA Indicates fender vertical angular compression due to flare, or top and bottom loading A FTA Indicates fender twist around fender axis AT PSU N nAttitude angle arrays of PSUs on the same BIM sub system. VXVX Indicates fender compression speed VYVY Indicates how fast the ship is moving along the pier VZVZ Indicates how fast the ship is moving vertically V IX Indicates the ship's initial contacting / berthing speed C Nn Indicates the compression rate of an indivisual fender elastomer E Nn Indicates energy absorbed by each individual fender elastomer ENEN Indicates energy absorbe by each fender system ETET Indicates the total energy absorbed by all fender systems during a berthing ESES Indicates the ship's kinetic energy based on initial berthing speed Vix R Nn Indicates reaction force of each indivdual fender elastomer RNRN Indicates reaction force of each fender system RTRT Indicates the total instantaneous reaction force of all fender systems ACF Nn Accumulated compression ( fatigue) on 3 axes of each fender element ( if not replaced with new ) ACR Nn Accumulated compression ( rated) on 3 axes of each fender element ( if not replaced with new ) ACA Nn Accumulated compression ( alarm) on 3 axes of each fender element ( if not replaced with new )

11 BIM Graphic User Interface 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 Berth Overview Window Birdseye view of a marine terminal and its BIM system status Provides many other functions such as historical data replay and research

12 BIM – Comprehensive Fender Monitoring Excessive fender system motion warningsPermanent 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

13 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

14 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

15 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

16 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

17 Future of BIM Technique

18 Thank You ! 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 2013PIANC Smart River 2013 Aug. 25-Aug. 28. 2013Sept. 26, 2013 ( Paper No. 193 ) Sheraton Seattle HotelPalais des Congrès 1400 Sixth AvenueEsplanade de l'Europe 2/A, 4020 Seattle, WA 98101, USALiege, Belgium 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. zaldausa@zaldatechnology.com


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