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

?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

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

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 StructurePyramid 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 InterpretationDX Indicates fender compression displacment due to ship contact, used to derive compression rateDXP Indicates fender displacement away from the pier due to abnormal berthing / fender damageDY Indicates fender displacement due to ship movement along the pierDZ Indicates fender displacement due to wave surge and fender panel upward & downward impact

AFHA Indicates fender horizontal angular compression due to berthing angleAFVA Indicates fender vertical angular compression due to flare, or top and bottom loadingAFTA Indicates fender twist around fender axisAT PSU N n Attitude angle arrays of PSUs on the same BIM sub system.

VX Indicates fender compression speedVY Indicates how fast the ship is moving along the pierVZ Indicates how fast the ship is moving vertically

VIX Indicates the ship's initial contacting / berthing speed

CNn Indicates the compression rate of an indivisual fender elastomerENn Indicates energy absorbed by each individual fender elastomerEN Indicates energy absorbe by each fender systemET 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 elastomerRN Indicates reaction force of each fender system

RT Indicates the total instantaneous reaction force of all fender systems

ACFNn Accumulated compression ( fatigue) on 3 axes of each fender element ( if not replaced with new )ACRNn Accumulated compression ( rated) on 3 axes of each fender element ( if not replaced with new )ACANn Accumulated compression ( alarm) on 3 axes of each fender element ( if not replaced with new )

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

BIM – Comprehensive Fender Monitoring

Excessive fender system motion warnings

• System permanent deformation• Frontal structure permanent deformation• System restraints damage

Permanent fender system damage detection

• Insufficient / diminished fender energy capacity • Insufficient fender panel design• Insufficient restraints• Insufficient fender arrangement

Fender system design improvement recommendation

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

• Simplicity

Input Method - Euler Angles algorithm

• Low computation & data storage strain, orthogonality and low data divergence

Attitude Matrix Conversion - Quaternion algorithm

• Easy 3D rendering without Gimbal lock

Output – Rational Vectors

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

Fender reaction load sensor integration

Integration of micro vibration power generation ( Wireless inductive battery recharging scheme under

testing )

Develop berth specific fender life expectancy

Development of “accident preventive" berthing impact threshold set

Revolutionize fender element and fender sysetm design and allow fine tuning of existing fender design

Integrates into “smart harbor” information structure

Provide data for dock structural fatigue study

Thank You !

BIM Development TeamJohnny Qiu – Author, Original Concept / Functionality / GUI Design

Wei Yu – Co-author, System Design, Software ProgrammingGuoping Tang – Hardware & Mechanical Design

Weimin Xia – Software ProgrammingCuiping Jin – Fender Integration Design

COPRI / PIANC PORTS 2013 PIANC Smart River 2013 Aug. 25-Aug. 28. 2013 Sept. 26, 2013 ( Paper No. 193 )Sheraton Seattle Hotel Palais des Congrès1400 Sixth Avenue Esplanade de l'Europe 2/A, 4020 Seattle, WA 98101, USA Liege, Belgium

Contact Information

Zalda Technology Integrated Solutions for Berthing, Fendering, and Mooring

2488 Technology Dr.Hayward, CA 94545-4867

T. +1 510-783-4910F. +1 510-783-1897

W. www.zaldatechnology.com/BIM.htmlE. zaldausa@zaldatechnology.com