QS CSD - Setup and Interfacing

This document outlines the steps involved in setting up a CSD operation.

Setup and Interfacing - Database Setup Program

Objects

There is considerable variation in how a dredger is configured in terms of sensors used and whether all or some of the sensor data is read by QINSy directly from the sensors themselves as opposed to being delivered via the PLC. 

The following presents one configuration which should provide sufficient guidelines to cope with alternative setups.

Add a pontoon Object, type Vessel, locating the object Reference Point in an appropriate place.

Proceed through the Object Definition wizard.

Define a dredger shape from at least a top view perspective, and a side profile perspective.
An aft view may be useful.
How detailed the object shape needs to be is a personal choice.
Remember the option to import a 3D DXF file. 

Define one or more Navigation Positioning systems selecting the correct driver for each.

Add a variable node and enter the correct offsets for the GNSS antenna variable node from the CoG.

Define a Gyro system. Choose the driver.

Define a Pitch Roll Heave system, sometimes called a Motion Reference Unit (MRU) or a Vertical Reference Unit (VRU).

Choose the driver and add a variable node, entering the system offsets from the CoG.

Define an Underwater Sensor system and add one or more draft observations, adding new node(s) for their locations.

Define a Dredge Sensor system and add one or more observations.

Add more variable nodes. For example: trunnion (pivot point for the ladder), anchor fairleads (winches), boom pivot points.

Add a ladder Object, type Vessel, locating the object CoG in an appropriate place.

Define a Gyro system on the ladder. Use a System Cloner driver and clone the pontoon heading.

If so equipped, define a Pitch Roll Heave system on the ladder. Choose one of the Slot identifiers:

Add more variable nodes. For example:

• the pivot point corresponding to the trunnion node on the pontoon.

• the cutter center where the cutter attaches to the ladder.

• the tip of the cutter. 

 If running anchors, it may also be useful to define the port and starboard sheaves.

Define a Link System, linking the trunnion axis node with the ladder pivot point node.

Add a carrier spud Object, type Vessel, locating the object Reference Point (CoG) in an appropriate place (e.g. center of spud pole).

Define a Gyro system on the spud pole. Use a System Cloner driver and clone the pontoon heading.

Typically the carrier spud pole is positioned by pseudo-USBL observations received from the PLC referenced to the pontoon Reference Point (CoG).

 Therefore define a USBL system on the pontoon with the center of the spud pole as a USBL target.

Add a cutter Object, type Dredging Tool, locating the object Reference Point (CoG) in an appropriate place (e.g. center of rear face).

For the dredge head model, enter the number of rows and columns, and the overall width and length.
Then click on and select . Enter the Max. Z which is measured from the cutter tip to the rear face.

 A model is created in a spreadsheet type format. Each cell in the matrix is then treated as a pseudo-echosounder which is used in updating the sounding grid during dredging operations.

Define a Dredge System and select Cutter from the list of Dredger Types.

Check if density and velocity values are decoded from the PLC.
 If Status is received from the PLC, select that option and establish the Translation Table to decode the correct status.

Define a Gyro system on the cutter. Use a System Cloner driver and clone the pontoon heading.

Define a Pitch Roll Heave system and use a System Cloner driver and clone the ladder pitch.

Define a Link System and link the Cutter Center node on the ladder to the Cutter CoG (center of rear face).

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Anchors

If running anchors as part of the operation:

Add one or more Object(s), type Vessel, for each anchor handling tug (AHT). 

Define a position navigation system, adding an antenna node.

Define a gyro system for the tug.

Add a stern roller variable node.

Add variable nodes on the pontoon or ladder for the fairleads (winches). These are needed online when configuring the anchor spread.

Define a Tug Manager system.

A two-way dredger to anchor tug serial data communications radio is a prerequisite.

Anchor tug position and heading is received and dredger position and heading, as well as anchor drop locations, are sent.
This exchange of data is configured online in the Tug Manager dialog.
The Tug Display utility is run on the tug. 

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Output Systems

Positioning, Heading and Motion

Depending on the how the hardware interfacing is configured, it may be necessary to define one or more data output systems.
For example, when positioning, gyro and motion sensor systems are interfaced directly to QINSy, sending that data to the PLC may be required.

Output systems are defined in a single page dialog box, requiring only a System Name, output System Type, Driver, and I/O Parameters for a network or a serial interface.

Generic Output (User-defined ASCII)

In cases where the dredging computer (PLC) expects to receive data in a specific format, and that format is not currently supported in your QINSy release, the Generic Output (User-defined ASCII) driver may be used.
The template database setup is simple: system name, output system type, Driver, and network or serial interfacing details.

When the Controller is started, the Generic Output icon  is found in the task bar. Use the Add button in the dialog box to create the Generic Output content.
Please refer to the

• Quickstart (QS CSD - Primary Displays).

• CSD - Generic Display found in the main Howto Dredging.

• and the  for detailed information about this utility.

Generic ASCII Data Logger (Controller)

In cases where ASCII data must be written to a log file in a specific format not currently supported in your QINSy release, the Generic ASCII Data Logger driver may be used.
The template database setup is simple: System Name, output System Type, Driver, and I/O Parameters for a network or a serial interface.

The XML file, in which the output content and format is specified, is created using the Generic Layout Editor, started from the icon located in the Console's lower pane.
Please refer to  for detailed information about this utility.

IHC Dredging Triangles (TCP or UDP)

Written specifically for an IHC PLC this driver outputs a number of TIN triangles from the currently selected dredging design surface.
A request for a number of TIN triangles is made by the IHC dredging computer via a TCP/IP connection.
The driver fetches the triangles from the design model (manual, DTM/pro or Grid) and sends them to the IHC computer.
The driver selects the triangles which are located in an area around the last node position.

When a Manual design is used the driver will send two triangles that represent an area of 500x500 survey units around the node position.
When DTM/QGF/PRO file is selected the actual triangles as defined by the user in PM.NET or TerraModel are retrieved from the file.
When Grid File is used as input then the grid points are triangulated inside the driver and sent to the IHC computer.

The template database setup is simple: System Name, output System Type, Driver, and I/O Parameters for a network or a serial interface.

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Auxiliary Systems

Tide

Define a Tide Gauge system, choose a driver and enter serial or network interfacing details.

Use the button which then requires selection of a Fixed Node to use as a tide station.

Use the button to add a Fixed Node.

In the Edit Fixed Node Parameters dialog enter:

• a Name

• the coordinates of the Node Position

• the Horizontal Datum

• Station Height

• Instrument Height

• and, most importantly, the Vertical Datum with any Height Level and/or Height Offset modifiers.

Time Synchronization

Perhaps not as critical in dredging operations, it may still be useful to define a system.

Define a Time Synchronization system, choose a Driver and enter serial or network interfacing details.

Choose whether to .

This is a hardware device manufactured by QPS for converting a TTL or CLS pulse to an RS232 compatible signal.

Choose the Time Tag-Pulse Matching method. Text in the dialog box explains the three options.

Choose whether to . It is highly recommended to leave this unchecked.

Continue to: QS CSD - Create Sounding Grid and Import Design Model

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Return to: Quickstart - CSD.