Planning and conduction of optimisedmanoeuvres in emergency situations                      Transportforum 2012           ...
ADvanced (simulation-based) Planning forOPTmised Conduction of CoordinatedMANoeuvres in Emergency Situations              ...
ADOPTMAN – Advanced planning for optimisedconduction of coordinated manoeuvres inemergency situationsMichael Baldauf, Seba...
World Maritime University Malmö                                             4Outline Introduction State of the art Advance...
World Maritime University Malmö                                                                                   5Introdu...
World Maritime University Malmö                                                             6Return manoeuvre for PoB acci...
World Maritime University Malmö                                                                                       7   ...
World Maritime University Malmö                                                              8Introduction                ...
World Maritime University Malmö                                      9Present situation – Case study I• Introduction• Stat...
World Maritime University Malmö                                        10Present situation – Case study II• Introduction• ...
World Maritime University Malmö                                                                11State of the art - Equipm...
World Maritime University Malmö                                                                    12State of the art - Eq...
World Maritime University Malmö                                                              13Manoeuvring and Manoeuvring...
World Maritime University Malmö                                              14Manoeuvring information for the bridge team...
World Maritime University Malmö                                                                 15Manoeuvring information ...
World Maritime University Malmö                                                                                           ...
World Maritime University Malmö                                                                           17Application of...
World Maritime University Malmö                                                                    18Generating situation-...
World Maritime University Malmö                                                                 19Generating situation-dep...
World Maritime University Malmö                                                               20Generating situation-depen...
World Maritime University Malmö                                                              21Generating situation-depend...
World Maritime University Malmö                                                       22Generating situation-dependent man...
World Maritime University Malmö                                                       23Generating situation-dependent man...
World Maritime University Malmö                                                                                           ...
World Maritime University Malmö                                                                            25Outlook, Summ...
World Maritime University Malmö                                                               26 Summary and Conclusions• ...
World Maritime University Malmö                                        27     Thank youfor your attention!    Awaiting you...
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Session41 Michael Baldauf

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ADOPTMAN - Advanced Manouvre planning for emergency situation person overboard

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Session41 Michael Baldauf

  1. 1. Planning and conduction of optimisedmanoeuvres in emergency situations Transportforum 2012 Linköping 11 - 12 January World Maritime University Dr.-Ing. Michael Baldauf E-Mail: mbf@wmu.se www.wmu.se
  2. 2. ADvanced (simulation-based) Planning forOPTmised Conduction of CoordinatedMANoeuvres in Emergency Situations Transportforum 2012 Linköping 11 - 12 January
  3. 3. ADOPTMAN – Advanced planning for optimisedconduction of coordinated manoeuvres inemergency situationsMichael Baldauf, Sebastian KlaesJens-Uwe Schröder-Hinrichs(World Maritime University Malmö, Sweden)Knud Benedict, Sandro FischerMichael Gluch, Matthias Kirchhoff(Hochschule Wismar, University of Applied Sciences, ISSIMSWarnemünde) IS V IN S T IT U T FÜ RDana Meißner, Uli Fielitz S IC H ERH EIT S T EC H N IK S C H IFFS S IC H ERH EITInstitute für SchiffssicherheitErland Wilske Viggo LanderUlf Lindberg Stena – Line ASSSPA Sweden
  4. 4. World Maritime University Malmö 4Outline Introduction State of the art Advanced manoeuvring assistance Aspects Dynamic wheelhouse poster Applying Fast Time Simulation Aims and Objectives of Planning Planning of an Emergency Return Manoeuvre Outlook
  5. 5. World Maritime University Malmö 5Introduction Facts & Figures:• Introduction Risk = probability × consequences• State of the art 75 % of PoB finally die [Annual maritime Incident Report, Queensland]• Advanced manoeuvring 2000 to 2010, 150 PoB accidents of North American assistance shipping companies [Klein]• Aims and Objectives of Human factor: Planning almost no experience available for most of the ship• Planning of an officers, Emergency Return never or seldom experienced such an accident Manoeuvre personally• Outlook PoB training mostly in good conditions for safe training
  6. 6. World Maritime University Malmö 6Return manoeuvre for PoB accidents• Introduction Manoeuvres in PoB cases:• State of the art no single standard procedure recommended Depending on time:• Advanced manoeuvring − "Immediate action" situation, assistance − "Delayed action" situation and• Aims and Objectives of − "Person missing" situation Planning Recommended manoeuvres acc. to IAMSAR/• Planning of an Emergency MERSAR Vol. III: Return − SINGLE-TURN Manoeuvre − WILLIAMSON-Turn• Outlook − SCHARNOW-Turn
  7. 7. World Maritime University Malmö 7 Return manoeuvre for PoB accidents Williamson Turn Advantages of a combination of Scharnow Turn & Single turn: •Identical up to course change of 220° - therefore more time is available and a later decision is possible for final manoeuvre; Scharnow Turn Single Turn •Saving of time, because manoeuvring procedure is ΨC≈60° faster, •more chances for look-out, because turning direction ΨC≈240° does not change; ΨC≈220° •smaller distances to initial position, therefore better eye contact in restricted visibility; Optimisation of Manoeuvres needs to be ship type specific! ….Williamson Turn: Scharnow Turn: Single Turn:Not the best option Best option if the Best option if thein most cases accident was noticed accident was noticed after certain time immediately
  8. 8. World Maritime University Malmö 8Introduction Problem: There are in parallel the following aspects to• Introduction consider: time pressure (many actions:• State of the art release life buoy, fix position, alarms, ,.. and: rudder action• Advanced and engine manoeuvres!) - this manoeuvring is a source for errors! assistance lack of information (when it has happened) makes decisions• Aims and difficult Objectives of decision from variety of several Planning manoeuvres is a burden…• Planning of an See Sample of PoB action plan Emergency Return Actions of witness Manoeuvre Actions of bridge team Actions of captain• Outlook
  9. 9. World Maritime University Malmö 9Present situation – Case study I• Introduction• State of the art• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Emergency Return Manoeuvre• Outlook
  10. 10. World Maritime University Malmö 10Present situation – Case study II• Introduction• State of the art• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Emergency Return Manoeuvre• Outlook
  11. 11. World Maritime University Malmö 11State of the art - Equipment ECDIS and GPS marks incident position• Introduction electronically• State of the art• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Emergency Return Manoeuvre• Outlook
  12. 12. World Maritime University Malmö 12State of the art - Equipment• Introduction Equipment INS/IBS offer no situation-dependent• State of the art manoeuvring information• Advanced manoeuvring assistance External factors influencing manoeuvring• Aims and performance (e.g. wind) are usually considered Objectives of only in mental model of the captain/OOW Planning• Planning of an no computer based support for manoeuvring Emergency Return adapted to the actual situation parameter is Manoeuvre available, when most urgently needed• Outlook
  13. 13. World Maritime University Malmö 13Manoeuvring and Manoeuvring characteristics• Introduction Principal division into routine- and emergency• State of the art manoeuvres• Advanced Depending on sea areas: manoeuvring Open sea assistance Coastal areas/ fairways• Aims and Objectives of Port areas, harbour basins Planning Safety critical /emergency manoeuvres:• Planning of an Last minute CA/GA manoeuvres Emergency Return Avoidance of dangerous rolling Manoeuvre Return Manoeuvres in PoB cases• Outlook SAR Manoeuvres
  14. 14. World Maritime University Malmö 14Manoeuvring information for the bridge team• Introduction• State of the art• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Emergency Return Manoeuvre• Outlook
  15. 15. World Maritime University Malmö 15Manoeuvring information for the bridge team• Introduction Even none of the INS provides situation- dependent manoeuvring data yet• State of the art• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Up-to-date manoeuvring information can be Emergency Return provided by enhanced integrated simulation Manoeuvre technologies• Outlook For PoB- Cases wheelhouse poster should contain information about return manoeuvres
  16. 16. World Maritime University Malmö 16Dynamic situation dependent manoeuvringinformation Steering Parameter Dynamic Wheelhouse Poster and• Introduction • Rudder angle, • Engine revolution / power Electronic Manoeuvring Booklet • Bow-/Aft-thrusters for advanced manoeuvring support •…• State of the art automatic plan for return manoeuvre in PoB Status Parameter• Advanced • max available rudder angle, • Time for rudder command VDR based Fast-time Application and manoeuvring • max engine revolution / manoeuvring Data base Simulation Display of assistance power • Time for reverse engine • Manoeuvring data Calculation of: adapted manoeuvre depending on • R udder manoeuvring •… • Loading c ommands characteristics• Aims and conditions according to and generation Objectives of • Environmental s tandard Actual moving conditions procedure of the complete Planning parameter • Steering and Control • D etermination of ti me/heading for situation- • course, speed (x, y) parameters c ounter rudder dependent • ROT, heading, draft, • Steering and manoeuvring• Planning of an • Lateral wind area and wheel over control point plan Emergency •… conditions • … Return Actual Manoeuvre environmental condition • Wind (force, direction),• Outlook • Depth of water • Course of fairway • Aids to Navigati on • targets
  17. 17. World Maritime University Malmö 17Application of Fast-Time Simulation The following equation of motion was used as• Introduction math model for the ships dynamic:• State of the art ( X = m u − rv − xG r 2 & )• Advanced manoeuvring Y = m(v + ru + xG r ) & & assistance N = I z r + mxG (v + ru ) & &• Aims and Objectives of right - effects of inertia (u and v represent the speed Planning components in longitudinal and transverse direction x and y, r is the rate of turn. m - ships mass and xG is the• Planning of an Emergency distance of centre of gravity from the origin of the co- Return ordinate system, Iz is the moment of inertia around the Manoeuvre z-axis.• Outlook Left - ships hull forces X and Y as well as the yawing moment N around the z-axis. Their dimensionless coefficients are normally represented by polynomials based on dimensionless parameters
  18. 18. World Maritime University Malmö 18Generating situation-dependent manoeuvre plans• Introduction Overall goal:• State of the art Sequence for optimised manoeuvre control adapted to actual Ships situation• Advanced manoeuvring assistance Current Problems:• Aims and Objectives of great variety of resulting tracks between Planning different ships• Planning of an many options for parameter changes Emergency Return Manoeuvre Definition of the „optimal reference manoeuvre“• Outlook
  19. 19. World Maritime University Malmö 19Generating situation-dependent manoeuvre plans• Introduction Results for Single-turn simulation with standard procedure for CV 7.500 TEU varying wind• State of the art• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Emergency Return Manoeuvre• Outlook
  20. 20. World Maritime University Malmö 20Generating situation-dependent manoeuvre plans• Introduction Results for Williamson-turn simulation with standard procedure for CV 7.500 TEU – loaded• State of the art and ballast• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Emergency Return Manoeuvre• Outlook
  21. 21. World Maritime University Malmö 21Generating situation-dependent manoeuvre plans• Introduction Different ship types performing Scharnow turns with standard procedure• State of the art• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Emergency Return Manoeuvre• Outlook
  22. 22. World Maritime University Malmö 22Generating situation-dependent manoeuvre plans• Introduction Reference outline Scharnow-turn• State of the art• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Emergency Return Manoeuvre• Outlook
  23. 23. World Maritime University Malmö 23Generating situation-dependent manoeuvre plans• Introduction Reference outline Scharnow-turn• State of the art• Advanced manoeuvring assistance• Aims and Objectives of Planning• Planning of an Emergency Return Manoeuvre• Outlook
  24. 24. World Maritime University Malmö 24Generating situation-dependent manoeuvre plans• Introduction Optimisation possibility II: Basis: Standard manoeuvre (e.g Scharnow-turn)• State of the art Variation of heading-value for counter rudder, but realized with an optimisation algorithm• Advanced manoeuvring Fitting to limitations of heading and distance to the old course assistance• Aims and Objectives of Ruder hart Steuerbord ab Kurs zu Beginn : : 0s 0° Planning Dauer Ruder hart Steuerbord : 4 min 13 s Überschwingwinkel : 32° Gegenkurs (+180°) : 180.0°• Planning of an Hart Gegenruder nach Backbord : 4 min 13 s Emergency Hart Gegenruder nach Steuerbord Zeit bis Ruder Mittschiffs : : 6 min 19 s 7 min Return Bahnabweichung : 9,2 m Manoeuvre Heading zu Manöverende Kurs zu Manöverende : : 178,3° 179,6°• Prospect
  25. 25. World Maritime University Malmö 25Outlook, Summary and ConclusionsSample for display of dynamic prediction for actual handle position (straighttrack) and a second track in parallel from manoeuvring database (Sample ofScharnow Turn)
  26. 26. World Maritime University Malmö 26 Summary and Conclusions• e-Navigation is a framework which will also allow for advanced manoeuvring assistance in case of emergencies• The application of FTS has potential for: Electronic wheelhouse poster - where important manoeuvring data for standard manoeuvres could be updated in regular intervals when conditions have changed Planning and dynamic prediction to provide On-line support by simulating the future track and speed for actual control settings even in emergency situations• ...
  27. 27. World Maritime University Malmö 27 Thank youfor your attention! Awaiting your questions!
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