Real-time Detection of Parametric Roll: Full-scale Validation Galeazzi.pdfRoberto Galeazzi Assistant Professor @ DTU Electrical Engineering Technical University of Denmark Trondheim,

Real-time Detection of Parametric Roll:

Full-scale Validation

Roberto Galeazzi Assistant Professor @ DTU Electrical Engineering

Technical University of Denmark

Trondheim, 27-29 May 2013

Real-time Detection of Parametric Roll: Full-scale validation CeSOS Highlights & AMOS Visions Conference

2 DTU Electrical Engineering, Technical University of Denmark

Time

•2009 – 2010 PostDoc within Thor I. Fossen group

Activities

•Continued research on detection methods for parametric roll resonance

•Research on nonlinear observers for autoparametric systems

Goals

•Personal Established great intrapersonal relationships which have enriched me as a man and as a researcher

•Professional PAROLL Proof-of-Concept

CeSOS and I: an exciting year



PAROLL Early Detection of PArametric ROLL on Ships



Talk outline

Warning systems

Fingerprints of parametric roll

Detection methods

Monitoring system set-up

Detection scheme validation

Conclusions



Parametric roll in a nutshell e

roll2

WAVES

PITCH

ROLL



Parametric roll in a nutshell e

roll2



Why warning systems?

• ship owners (hull integrity)

• cargo owners (cargo lost overboard or higly damaged)

• insurance companies (claims for millions of dollars)

Parametric roll resonance is a real threat for



What kind of warning systems do the mariners need?

First Generation

Warning Systems

Risk prediction

Based on signals and

models

Aware route

planning

“Being aware of the problem is all very well, and a head-sea condition may often be avoided. But sometimes you have to live with it because that is where you are going. A prudent approach will then be to have some kind of warning system for the bridge watch. Most such systems will check if the conditions for parametric rolling are satisfied and then sound a signal. To do so, the system must make some kind of assessment of the sea condition and the ship motion.”




First Generation

Warning Systems

Risk prediction

Based on signals and

models

Aware route

planning

“Being aware of the problem is all very well, and a head-sea condition may often be avoided. But sometimes you have to live with it because that is where you are going. A prudent approach will then be to have some kind of warning system for the bridge watch. Most such systems will check if the conditions for parametric rolling are satisfied and then sound a signal. To do so, the system must make some kind of assessment of the sea condition and the ship motion.”

Safe crossing is important but how does this affect

SCHEDULE RELIABILITY

and

FUEL CONSUMPTION?




Second Generation

Warning Systems

?

? ?

“But what about lining up the peaks? Would it not be appropriate to ask for some kind of warning on ‘peak hits’? We know, both from full-scale measurements and model tests, that we need a series of ‘peak hits’ for parametric rolling to happen, and about 5–6 for it to develop fully. So when the system starts to indicate ‘hits’ we have a true indication of imminent danger. So the phase issue is important. A good system should then also give an indication of when the peaks line up, because that is also a necessary condition for parametric rolling to develop. We believe there is a need for this kind of ‘second generation’ warning system for certain ships in given trades.”

Knut Døhlie DNV Business Director

for Container Ships



Parametric roll ... it isn’t just roll



Fingerprints of parametric roll

PARAMETRIC ROLL

FREQUENCY COUPLING PHASE SYNCHRONIZATION

ROLL POWER SPECTRUM

PITCH POWER SPECTRUM

e roll2

PITCH [deg]

ROLL [deg]



Spectral correlation detector

Given two signals x and y the cross-spectrum provides a measure of similarity of the two wave forms

ROLL POWER SPECTRUM

PITCH POWER SPECTRUM

e roll2



Phase synchronization Can we characterize it in a

statistical sense?

PARAMETRIC ROLL DID NOT OCCUR PARAMETRIC ROLL DID OCCUR



Phase synchronization



GENERALIZED LIKELIHOOD RATIO TEST

FORCED ROLL PARAMETRIC ROLL

Double Weibull-GLRT detector



Robustness against synchronous roll



Robustness against synchronous roll



Detection system robustification



Monitoring system set-up PHASE SYNCHRONIZATION

DETECTOR FREQUENCY SYNCHRONIZATION

DETECTOR



Time [min]

TOW

ING

TA

NK

DA

TA

Monitoring system performance I

Parametric Roll Event



Monitoring system performance I TO

WIN

G T

AN

K D

ATA

Detect or not detect? ... This is the question

TIMELY DETECTION OF PARAMETRIC ROLL EVENT



Monitoring system performance I TO

WIN

G T

AN

K D

ATA

Detect or not detect? ... This is the question

TIMELY DETECTION OF PARAMETRIC ROLL EVENT



FULL

SC

ALE

DA

TA

Monitoring system performance II

Time [min]

9 hours of navigation through a storm across the Atlantic

NO EVIDENCE OF PARAMETRIC ROLL



FULL

SC

ALE

DA

TA

Monitoring system performance II

Sensitive or not sensitive to forced roll? ... This is another question

NO SINGLE FALSE ALARM IN 9 HOURS OF NAVIGATION ACROSS A STORM



DN

V D

ATA

– D

AY

4

Monitoring system performance III Container ship in navigation across the Pacific Ocean experiencing parametric roll



Monitoring system performance III D

NV

DA

TA –

DA

Y 4



Monitoring system performance III D

NV

DA

TA –

DA

Y 4



WA

LLEN

IUS

CA

SE II

Monitoring System Performance Principal 2:1 parametric resonance in head seas



Monitoring System Performance W

ALL

ENIU

S C

ASE

II




ALL

ENIU

S C

ASE

II




ALL

ENIU

S C

ASE

II



WA

LLEN

IUS

CA

SE I

Monitoring system performance IV Principal 2:1 parametric resonance in following seas



Monitoring system performance IV W

ALL

ENIU

S C

ASE

I



Monitoring system performance IV W

ALL

ENIU

S C

ASE

I



DN

V D

ATA

– D

AY

1/D

AY

2

Monitoring system performance V Container ship in navigation across the Pacific Ocean experiencing parametric roll

17 hours of continuous navigational records



Monitoring system performance V D

NV

DA

TA –

DA

Y 1

/DA

Y 2



Summary

Galeazzi, R., Blanke, M., Poulsen, N. K., “Early Detection of Parametric Roll Resonance on Container Ships”, IEEE Transactions on Control Systems Technology, 21(2), 489-507, 2013



PAROLL & First Generation Warning System

PAROLL is

NOT alternative but

COMPLEMENTARY TECHNOLOGY

to current on-board decision support systems





References

• Galeazzi, R., Blanke, M., Poulsen, N. K., “Early Detection of Parametric Roll Resonance on Container Ships”, IEEE Transactions on Control Systems Technology, 21(2), 489-507, 2013

• Galeazzi, R., Blanke, M., Poulsen, N. K., “Detection of Parametric Roll for Ships”, Chapter 2, Parametric Resonance in Dynamical Systems, Fossen T. I. and Nijmeijer H. Eds., Spring-Verlag, 2012

• K. A. Døhlie, “Parametric rolling. A problem solved?”, DNV Container Ship Update, 1, 12–15, Feb. 2006

Acknowledgements Det Norske Veritas and Wallenius Marine are gratefully acknowledged for providing the full scale data set for the testing of the PAROLL monitoring system.

Data from model tests were kindly provided by T. Perez (formerly CeSOS, NTNU, now University of Newcastle, Newcastle, Australia) and G. Storhaug, DNV.

Data from the Atlantic passage were logged by M. Blanke in the 1980s and are presented with the permission from Maersk Lines, Copenhagen, Denmark.

Real-time Detection of Parametric Roll:

Full-scale Validation

Roberto Galeazzi

[email protected]

Trondheim, 27-29 May 2013

mailto:[email protected]

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Documents

Real-time Detection of Parametric Roll: Full-scale Validation Galeazzi.pdfRoberto Galeazzi Assistant Professor @ DTU Electrical Engineering Technical University of Denmark Trondheim,