Detecting physical impacts to the corners of shipping containers during handling operations performed by quay cranes

Ci a ion: Jako le , S.; Eglynas, T.; Jusis, M.; Voznak, M.; Pa ila, P.; To a ek, J. De ec ing Physical Impac s o he Co ne s o Shipping Con aine s du ing Handling Ope a ions Pe o med by Quay C anes. J. Ma . Sci. Eng. 2023,11, 794. h ps://doi.o g/10.3390/ jmse11040794 Academic Edi o s: Yassine Ami a , Ma eusz Zaja¸c and Tomisla Roži´c Recei ed: 12 Ma ch 2023 Re ised: 23 Ma ch 2023 Accep ed: 4 Ap il 2023 Published: 7 Ap il 2023 Copy igh : © 2023 by he au ho s. Licensee MDPI, Basel, Swi ze land. This a icle is an open access a icle dis ibu ed unde he e ms and condi ions o he C ea i e Commons A ibu ion (CC BY) license (h ps:// c ea i ecommons.o g/licenses/by/ 4.0/). Jou nal o Ma ine Science and Enginee ing A icle De ec ing Physical Impac s o he Co ne s o Shipping Con aine s du ing Handling Ope a ions Pe o med by Quay C anes Se gej Jako le 1,2,*, Tomas Eglynas 1, Mindaugas Jusis 1, Mi osla Voznak 1,2 , Pa ol Pa ila 1,2 and Ja omi To a ek 1,2 1Ma ine Resea ch Ins i u e, Klaipeda Uni e si y, He kaus Man o S . 84, LT-92294 Klaipeda, Li huania 2Depa men o Telecommunica ions, VSB—Technical Uni e si y o Os a a, 17, Lis opadu 2172/15, Po uba, 708 00 Os a a, Czech Republic *Co espondence: se [email p o ec ed] Abs ac : This s udy aims o add ess he p oblem o p ope shipping con aine damage de ec ion du ing he hooking p ocedu e pe o med by quay c anes and hei hooking mechanisms. We adop ed he Impac s De ec ion Me hodology (IDM), de eloped p e iously, o de ec epea ed impac s on he same a eas o he con aine . These concu en impac s indica e alse hooking p ocedu es, which esul in dange ous me al de o ma ions in hese a eas o e sho pe iods o ope a ional ime. This applica ion in ends o e i y i his me hodology is adap able in eal-li e applica ions o de ec hese speci ic e en s. Ou main esul s indica e ha mo e han hal o handling p ocedu es a e ca ied ou wi h a highe isk o s uc u al damage o he con aine s due o hese epea ed impac s, which can each up o i e concu en impac s in some case s udies. Keywo ds: accele a ion; senso ; shipping con aine ; secu i y; physical impac 1. In oduc ion 1.1. P oblem S a emen Con aine handling and anspo a ion, pa icula ly du ing ans-shipmen s, is a challenging echnological challenge ha has no been ully sol ed up o his poin [ 1 ]. The majo i y o he con aine s being anspo ed oday a e ou -o -da e, and e en he newe con aine s a e being de eloped ollowing olde ou da ed s anda ds, making hem unsui able o sma au onomous and highly secu ed ope a ions. This p esen s a signi ican challenge o he companies and he enginee s wo king on he epai s [ 2 ]. The sp eade ’s as e eloci y and high o ce impac s on he co ne s o he con aine s when hey a e hooked by quay c anes (QC) om AGVs o he inside o he con aine ships; hese a e he mos impo an physical e ec s ha happen du ing con aine ans-shipmen in po ope a ions [ 3 ]. The esul s o con inuous impac s nea he hooking mechanism om he ou side a e shown in Figu e 1a below, while he esul s o con inuous impac s by he sp eade om he in e io o he con aine a e shown in Figu e 1b. Gi en ha QCs a e un by human ope a o s, mis akes will ine i ably occu du ing he wo k low. The hooking p ocedu e has a echnical p oblem. Due o he ope a o ’s lack o he a o emen ioned expe ience and he unique and unp edic able en i onmen al condi ions ha exis jus be o e he inal hooking s age, i is impossible o p ecisely di ec he sp eade hooking ods o he con aine ha is in he ship’s hull (o unde nea h he c ane) o hook i . Consequen ly, ce ain a eas o he con aine a e p one o damage due o impac s. Figu e 2below shows he ope a ional en i onmen o he hooking echnique and he con aine ’s mo emen di ec ion. Due o a ious ci cums ances, he sp eade hooking mechanism is no dynamic, which makes i impossible o a ach i simul aneously o all ou ixa ion poin s. J. Ma . Sci. Eng. 2023,11, 794. h ps://doi.o g/10.3390/jmse11040794 h ps://www.mdpi.com/jou nal/jmse J. Ma . Sci. Eng. 2023,11, 794 2 o 19 J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 2 o 20 (a) (b) Figu e 1. Resul s o he sp eade hooking mechanism’s impac on he con aine ’s inco ec hooking loca ions. He e igu e (a) shows he esul o he con inuous impac s on he ex e io pa o he con- aine , and (b) shows he esul o hese impac s on he in e io pa o he con aine . Consequen ly, ce ain a eas o he con aine a e p one o damage due o impac s. Figu e 2 below shows he ope a ional en i onmen o he hooking echnique and he con- aine ’s mo emen di ec ion. Due o a ious ci cums ances, he sp eade hooking mecha- nism is no dynamic, which makes i impossible o a ach i simul aneously o all ou ixa ion poin s. Figu e 2. Diag am showing he pa h aken by he con aine du ing expe imen al case s udies. Figu e 3 below schema ically shows he poin s o impac and hei cause. The con- aine swings unp edic ably, causing de ia ion in he X-axis mo emen . This esul s in he con aine being s uck by he hooking mechanism close o he ixa ion poin , causing se- e e damage o he me al s uc u e al eady shown in Figu e 1. This happens due o a i- ous ac o s, such as wea he condi ions, human ac o s, dynamic p ope ies o he con ol mechanisms, dynamics o he c ane s uc u e, and he lines holding he con aine , among o he s. These impac s occu andomly and canno be p edic ed, no can hey be a oided Figu e 1. Resul s o he sp eade hooking mechanism’s impac on he con aine ’s inco ec hooking loca ions. He e igu e ( a ) shows he esul o he con inuous impac s on he ex e io pa o he con aine , and (b) shows he esul o hese impac s on he in e io pa o he con aine . J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 2 o 20 (a) (b) Figu e 1. Resul s o he sp eade hooking mechanism’s impac on he con aine ’s inco ec hooking loca ions. He e igu e (a) shows he esul o he con inuous impac s on he ex e io pa o he con- aine , and (b) shows he esul o hese impac s on he in e io pa o he con aine . Consequen ly, ce ain a eas o he con aine a e p one o damage due o impac s. Figu e 2 below shows he ope a ional en i onmen o he hooking echnique and he con- aine ’s mo emen di ec ion. Due o a ious ci cums ances, he sp eade hooking mecha- nism is no dynamic, which makes i impossible o a ach i simul aneously o all ou ixa ion poin s. Figu e 2. Diag am showing he pa h aken by he con aine du ing expe imen al case s udies. Figu e 3 below schema ically shows he poin s o impac and hei cause. The con- aine swings unp edic ably, causing de ia ion in he X-axis mo emen . This esul s in he con aine being s uck by he hooking mechanism close o he ixa ion poin , causing se- e e damage o he me al s uc u e al eady shown in Figu e 1. This happens due o a i- ous ac o s, such as wea he condi ions, human ac o s, dynamic p ope ies o he con ol mechanisms, dynamics o he c ane s uc u e, and he lines holding he con aine , among o he s. These impac s occu andomly and canno be p edic ed, no can hey be a oided Figu e 2. Diag am showing he pa h aken by he con aine du ing expe imen al case s udies. Figu e 3below schema ically shows he poin s o impac and hei cause. The con aine swings unp edic ably, causing de ia ion in he X-axis mo emen . This esul s in he con aine being s uck by he hooking mechanism close o he ixa ion poin , causing se e e damage o he me al s uc u e al eady shown in Figu e 1. This happens due o a ious ac o s, such as wea he condi ions, human ac o s, dynamic p ope ies o he con ol mechanisms, dynamics o he c ane s uc u e, and he lines holding he con aine , among o he s. These impac s occu andomly and canno be p edic ed, no can hey be a oided by using he same mechanics, con ol s a egies, and ope a o s o he handling ope a ions. Due o ha sh wo king condi ions, high op imizing cos s o he hea y machine y, and no ye well-de eloped con ol echnologies, hese impac s will con inue and will cause many mo e losses in he long- e m pe spec i e due o he inc easing numbe o con aine ans-shipmen s in he wo ld. J. Ma . Sci. Eng. 2023,11, 794 3 o 19 J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 3 o 20 by using he same mechanics, con ol s a egies, and ope a o s o he handling ope a- ions. Figu e 3. Schema ics o he impac s’ causes. Due o ha sh wo king condi ions, high op imizing cos s o he hea y machine y, and no ye well-de eloped con ol echnologies, hese impac s will con inue and will cause many mo e losses in he long- e m pe spec i e due o he inc easing numbe o con aine ans-shipmen s in he wo ld. 1.2. Analysis o Ad ancemen s In close collabo a ion wi h Klaipeda con aine e minal ep esen a i es, a p elimi- na y in es iga ion e ealed ha hese consequences a e he mos signi ican and pe sis- en , leading o longe ansi delays, highe epai cos s, and a la ge isk o subsequen damage o su ounding wo ke s and con aine s [4,5]. This pape ca ies on he eam’s esea ch e o s in he a ea o physical impac de ec ion (accele a ion signal ex ac ion, p e-p ocessing, sma analy ics, and ans e as esul ) a speci ic imes and loca ions o con ac , du ing con aine handling ope a ions ca ied ou by he sp eade o he quay and ya d c anes. The new applica ion is ensu ed o ha e he highes le el o adap abili y, ac- cu acy, and s abili y. Jako le e al. [6] in oduced a no el me hodology o impac de ec- ion du ing inne hull ope a ions wi h loaded con aine s. The goal o his pape is o u - he de elop he esea ch ounda ion and widen he scope o de ec ion, speci ically e- ga ding he hooking acciden s ha pose se ious sa e y conce ns o shipping companies, as well as o ensu e ha he issues hey add ess a e handled app op ia ely in line wi h applicable sa e y egula ions and as e ec i ely as is echnologically possible in he highly demanding wo k en i onmen . Based on he ex ensi e lis o de ec ion esul s, he goal o his pape was ealized. To inc ease he secu i y o he logis ics, he sa e y o he echnical p ocesses, and he sa e y o he ca go, new, emo e, and ime-e ec i e con aine inspec ion echniques a e essen ial. Theo e ically, simila p oblems may be add essed om a me hodological pe - spec i e i he emphasis is placed on he measu emen o ib a ion signals a he han on pinpoin ing he loca ion o he impac . Such cases include ul asound inspec ion, sma isual inspec ion o es o con aine damage, and he sea ch o he esonance equency o a ma e ial in he case o con inuous pulsa ions induced on he me al s uc u e o he con aine walls ha could esul in i s collapse i ce ain h eshold alues a e me . Capac- i i e senso s a ached o sel -oscilla ing ci cui s, o ins ance, could be used o de ec me al Figu e 3. Schema ics o he impac s’ causes. 1.2. Analysis o Ad ancemen s In close collabo a ion wi h Klaipeda con aine e minal ep esen a i es, a p elimina y in es iga ion e ealed ha hese consequences a e he mos signi ican and pe sis en , lead- ing o longe ansi delays, highe epai cos s, and a la ge isk o subsequen damage o su ounding wo ke s and con aine s [ 4 , 5 ]. This pape ca ies on he eam’s esea ch e o s in he a ea o physical impac de ec ion (accele a ion signal ex ac ion, p e-p ocessing, sma analy ics, and ans e as esul ) a speci ic imes and loca ions o con ac , du ing con aine handling ope a ions ca ied ou by he sp eade o he quay and ya d c anes. The new applica ion is ensu ed o ha e he highes le el o adap abili y, accu acy, and s abili y. Jako le e al. [ 6 ] in oduced a no el me hodology o impac de ec ion du ing inne hull ope a ions wi h loaded con aine s. The goal o his pape is o u he de elop he esea ch ounda ion and widen he scope o de ec ion, speci ically ega ding he hooking acciden s ha pose se ious sa e y conce ns o shipping companies, as well as o ensu e ha he issues hey add ess a e handled app op ia ely in line wi h applicable sa e y egula ions and as e ec i ely as is echnologically possible in he highly demanding wo k en i onmen . Based on he ex ensi e lis o de ec ion esul s, he goal o his pape was ealized. To inc ease he secu i y o he logis ics, he sa e y o he echnical p ocesses, and he sa e y o he ca go, new, emo e, and ime-e ec i e con aine inspec ion echniques a e essen ial. Theo e ically, simila p oblems may be add essed om a me hodological pe spec i e i he emphasis is placed on he measu emen o ib a ion signals a he han on pinpoin ing he loca ion o he impac . Such cases include ul asound inspec ion, sma isual inspec ion o es o con aine damage, and he sea ch o he esonance equency o a ma e ial in he case o con inuous pulsa ions induced on he me al s uc u e o he con aine walls ha could esul in i s collapse i ce ain h eshold alues a e me . Capaci i e senso s a ached o sel -oscilla ing ci cui s, o ins ance, could be used o de ec me al de o ma ions in s uc u es unde di e en s esses o by mo e in-dep h analysis o he s uc u e’s ini ial ib a ion [ 7 ]. Ano he esea ch end is he adop ion o expensi e de eloped solu ions; Chuan e al. [ 8 ] we e able o measu e wi h p ecision he delay in a i al imes be ween wo connec ed senso s and he p opaga ion o impac noise h ough he ma e ial by adjus ing o he model o ib a ion o a igh memb ane [ 9 ]. Ye , au o-de ec ing o po en ial damages in he hea y anspo a ion indus y has been p io i ized be o e by se e al au ho s, mos no ably by Molodo a e al. [ 10 ], who p esen ed an au oma ic me hod o de ec ing ailway su ace de ec s, called “squa s”, using axle box accele a ion (ABA) measu emen s on ains, and Wiseman [ 11 ] sugges ed a sa e y ool o an incessan inspec ion o “SkyT an” acks by J. Ma . Sci. Eng. 2023,11, 794 4 o 19 employing digi al su eillance echnology. The damage de ec ion is done manually by isual inspec ion on-si e, a e a c i ical e en , o jus as pa o a egula check [ 12 ]. I he inspec ion o he ship is done egula ly, he isk o e ical cell guides damage caused by con aine s in he la e anspo a ion p ocess can be a oided. Ye , his de ec ion me hod is no only ime-consuming and labo -in ensi e bu also places high demands on specialized pe sonnel wo king aboa d he ships [ 13 ]. Many esea che s a e s udying me hods and de eloping complex senso y sys ems [ 14 ] o assis o eplace manual in as uc u e inspec ion aboa d ships, including op ical de ices, lase scanne s, e c. Applicable digi al signal p ocessing algo i hms a e a ho spo o da a science esea ch [ 15 , 16 ]. He e, Gab iel e al. [ 17 ] ocused on he de ec ion o impac s and laws o s uc u es in ai bo ne ehicles wi h an in oduced elec onic S uc u al Heal h Moni o ing (SHM) p o o ype in which he analy ical pa was based on he p opaga ion o ul asound acous ic wa es. O he esea che s such as And zej and Sand is [ 18 ] explo ed he e ec i eness o damage iden i ica ion in composi e pla es using damage indices based on smoo hing polynomials and cu ele ans o m, and Qian e al. [ 19 ] in es iga ed he echnical and compu a ional possibili ies o ea ly aul de ec ion o o o unbalance yielding incipien ub-impac aul s in he ini ial s age based on he de e minis ic lea ning me hod. Finally, Na alino Daniele e al. [ 20 ] demons a ed s a e- o - he-a impac de ec ion echniques o ae ospace s uc u al componen s, combining he mos p omising echniques cu en ly a ailable: he i s one was ela ed o impac s inducing low- equency ib a ions based on Neu al ne wo ks (NN), while he second one was ela ed o he de ec ion o impac s inducing highe - equency s ess wa es based on an acous ic sou ce localiza ion app oach. In all ela ed case s udies, he de ec ion o me al s uc u e de o ma ion is mos ly done by employing isual inspec ion, i he e exis s he possibili y o inspec he a ea o impac closely, o be su e ha a ce ain e en happened [ 12 ]. Howe e , his is s ill an eme ging ield. Applicable in a eal ope a ional en i onmen , digi al signal p ocessing sys ems and us wo hy algo i hms a e a ho spo o da a science esea ch [ 15 , 16 ] and will emain so in he coming decades and will closely co ela e wi h he means o deli e ing sa e y and secu i y o con aine handling ope a ions and o ans-shipmen s [21]. Rega ding he sa e y and secu i y o he con aine s and he ca go, a ew esea ch e o s ha e been epo ed in he li e a u e [ 21 ]. Howe e , none o he ea lie publica ions co e he use o accele a ion pa ame e s o ind impac s while handling ac ions a e being pe o med. The ma e ials, ype, and shape o he in as uc u e, he speed o he handling p ocedu es, he mass o he con aine , he physical cha ac e is ics o he suspension sys em, as well as he inclusion o he human ac o , and he gene al dimensionali y o he es -si e, all ha e an impac on he pa e ns o con aine sway and na u al ib a ions o me al s uc u es. The esea ch g oup has pa ially deal wi h simila ma e s in se e al esea ch p ojec s ecen ly, de eloping in elligen con aine sys em componen s and pa ame izing he e - iciency, sa e y, and secu i y o handling p ocedu es o he po ope a ions, esul ing in se e al high-impac publica ions [ 6 , 22 – 24 ]; ye , de ec ion o he impac s o he exac po- si ions o he con aine s uc u e using ib a ion c i e ia o any o he e alua ion c i e ia has no been analyzed be o e, ei he by he au ho s o by any o he esea ch g oup. I is a no el opic o he enginee ing communi y as well as a huge oppo uni y o companies o s a sol ing hese c i ical p oblems. The e o e, his pape aims o de elop a no el uni ied impac de ec ion sys em and me hod, and his pape he ea e will summa ize he esea ch indings o ou g oup using he da a se s collec ed using he echnological equipmen om ou p e ious s udies, while de ec ing he abo emen ioned impac s. 1.3. De ini ion o he Dynamics Figu e 4depic s one o he egis e ed c ane sp eade pa hs in one hooking (handling) cycle. The da a we e ob ained using a digi al accele a o eco ding de ice a ached o he sp eade , based on which he accele a ion alues and he pa h o he sp eade we e calcula ed. The sp eade pa h consis s o se e al ypical s ages: J. Ma . Sci. Eng. 2023,11, 794 5 o 19 - S a ing wi h poin one, he sp eade is unhooked om he p e iously anspo ed con aine ; - Then going o poin six, he e ical lowe ing o he sp eade owa ds he con aine begins; - Ending wi h poin se en, he sp eade inally ouches he con aine , which is ollowed by he physical hooking o he con aine using he con ac poin s. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 5 o 20 uni ied impac de ec ion sys em and me hod, and his pape he ea e will summa ize he esea ch indings o ou g oup using he da a se s collec ed using he echnological equip- men om ou p e ious s udies, while de ec ing he abo emen ioned impac s. 1.3. De ini ion o he Dynamics Figu e 4 depic s one o he egis e ed c ane sp eade pa hs in one hooking (handling) cycle. The da a we e ob ained using a digi al accele a o eco ding de ice a ached o he sp eade , based on which he accele a ion alues and he pa h o he sp eade we e calcu- la ed. The sp eade pa h consis s o se e al ypical s ages: - S a ing wi h poin one, he sp eade is unhooked om he p e iously anspo ed con aine ; - Then going o poin six, he e ical lowe ing o he sp eade owa ds he con aine begins; - Ending wi h poin se en, he sp eade inally ouches he con aine , which is ol- lowed by he physical hooking o he con aine using he con ac poin s. In his s udy, we examined only he p ocesses occu ing a e he six h s age o he ull cycle. Figu e 4. Con aine c ane sp eade ajec o y in one handling cycle. Figu e 5 depic s one o he many e ical posi ions o he sp eade calcula ed based on he eco ded accele a ions o e ime. I can be assumed ha in he 3 d second, he ope a o slows down he lowe ing p ocess o he sp eade a ge ing he exac ship’s con- aine sha . F om he 16 h second, he sp eade is again lowe ed down wi h inc eased speed un il i eaches he con aine a he s a o he 22nd second. Figu e 4. Con aine c ane sp eade ajec o y in one handling cycle. In his s udy, we examined only he p ocesses occu ing a e he six h s age o he ull cycle. Figu e 5depic s one o he many e ical posi ions o he sp eade calcula ed based on he eco ded accele a ions o e ime. I can be assumed ha in he 3 d second, he ope a o slows down he lowe ing p ocess o he sp eade a ge ing he exac ship’s con aine sha . F om he 16 h second, he sp eade is again lowe ed down wi h inc eased speed un il i eaches he con aine a he s a o he 22nd second. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 6 o 20 Figu e 5. The way o he sp eade in he dimension o he Z-axis: Example A. A mo e de ailed cou se o e en s is e ealed by he eco ded accele a ions o he sp eade along he e ical Z-axis, which a e p esen ed in Figu e 6. Looking a he g aph, we can assume ha he sudden inc ease in accele a ion a he s a o he 12 h second ma ks he beginning o he sp eade ajec o y wi hin a con aine sha o he ship. The sudden change a he 23 d second is e y likely o ma k he ini ial physical con ac wi h he con aine , and he ollowing small de ia ions a e a consequence o he wo k o he hooking mechanisms. In his example, he ope a o success ully hooked he con aine on he i s y. Figu e 6. Sp eade accele a ions along he A-axis: Example A. Howe e , success ully hooking sequences a e no casual. This is illus a ed in Figu e 7, showing he pa h o he sp eade . I is isible ha he e a e epea ed a emp s o hook he con aine in he pe iod be ween 3.5 and 5.5 s. Figu e 5. The way o he sp eade in he dimension o he Z-axis: Example A. A mo e de ailed cou se o e en s is e ealed by he eco ded accele a ions o he sp eade along he e ical Z-axis, which a e p esen ed in Figu e 6. Looking a he g aph, we can assume ha he sudden inc ease in accele a ion a he s a o he 12 h second ma ks he beginning o he sp eade ajec o y wi hin a con aine sha o he ship. The J. Ma . Sci. Eng. 2023,11, 794 6 o 19 sudden change a he 23 d second is e y likely o ma k he ini ial physical con ac wi h he con aine , and he ollowing small de ia ions a e a consequence o he wo k o he hooking mechanisms. In his example, he ope a o success ully hooked he con aine on he i s y. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 6 o 20 Figu e 5. The way o he sp eade in he dimension o he Z-axis: Example A. A mo e de ailed cou se o e en s is e ealed by he eco ded accele a ions o he sp eade along he e ical Z-axis, which a e p esen ed in Figu e 6. Looking a he g aph, we can assume ha he sudden inc ease in accele a ion a he s a o he 12 h second ma ks he beginning o he sp eade ajec o y wi hin a con aine sha o he ship. The sudden change a he 23 d second is e y likely o ma k he ini ial physical con ac wi h he con aine , and he ollowing small de ia ions a e a consequence o he wo k o he hooking mechanisms. In his example, he ope a o success ully hooked he con aine on he i s y. Figu e 6. Sp eade accele a ions along he A-axis: Example A. Howe e , success ully hooking sequences a e no casual. This is illus a ed in Figu e 7, showing he pa h o he sp eade . I is isible ha he e a e epea ed a emp s o hook he con aine in he pe iod be ween 3.5 and 5.5 s. Figu e 6. Sp eade accele a ions along he A-axis: Example A. Howe e , success ully hooking sequences a e no casual. This is illus a ed in Figu e 7, showing he pa h o he sp eade . I is isible ha he e a e epea ed a emp s o hook he con aine in he pe iod be ween 3.5 and 5.5 s. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 7 o 20 Figu e 7. Sp eade ajec o y along he Z-axis: Example B. Analysis o he accele a ion alues in Figu e 8 gi es mo e de ailed esul s. A he s a o he 1s second, he ini ial impac occu s when he sp eade impac s he con aine wi h accele a ion, which in u n is ollowed by o he a emp s o hook he con aine —wi h o he impac s. This is obse ed om he s a o he 3.5 h second, whe e unsuccess ul sp eade -lowe ing p ocesses occu , ending wi h a seconda y impac a he s a o he 5 h second. Figu e 8. Sp eade accele a ions along he Z-axis: Example B. To ca y ou se ious con aine damage assessmen s, i is necessa y o ace he impac e en s, ei he small o big, as demons a ed ea lie . Companies ha ing eal- ime e en - based in o ma ion would be able o immedia ely epai mino damages o he hooking mechanisms o he con aine s, p olonging hei usage wi hou hal ing he anspo a ion cycle o each sepa a e ca go. 2. Me hodology 2.1. Impac De ec ion Me hodology: In oduc ion Fo he egis a ion o epea ed impac s o he sp eade in o he con aine s, a me hod was adop ed, namely, he Impac s De ec ion Me hodology (IDM), which is based on he analysis o he e ical accele a ion pa ame e . In gene al e ms, he IDM signal p ocessing algo i hm embedded in he sys em is p esen ed in Figu e 9. This me hod was ini ially Figu e 7. Sp eade ajec o y along he Z-axis: Example B. Analysis o he accele a ion alues in Figu e 8gi es mo e de ailed esul s. A he s a o he 1s second, he ini ial impac occu s when he sp eade impac s he con aine wi h accele a ion, which in u n is ollowed by o he a emp s o hook he con aine —wi h o he impac s. This is obse ed om he s a o he 3.5 h second, whe e unsuccess ul sp eade -lowe ing p ocesses occu , ending wi h a seconda y impac a he s a o he 5 h second. To ca y ou se ious con aine damage assessmen s, i is necessa y o ace he impac e en s, ei he small o big, as demons a ed ea lie . Companies ha ing eal- ime e en - based in o ma ion would be able o immedia ely epai mino damages o he hooking mechanisms o he con aine s, p olonging hei usage wi hou hal ing he anspo a ion cycle o each sepa a e ca go. J. Ma . Sci. Eng. 2023,11, 794 7 o 19 J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 7 o 20 Figu e 7. Sp eade ajec o y along he Z-axis: Example B. Analysis o he accele a ion alues in Figu e 8 gi es mo e de ailed esul s. A he s a o he 1s second, he ini ial impac occu s when he sp eade impac s he con aine wi h accele a ion, which in u n is ollowed by o he a emp s o hook he con aine —wi h o he impac s. This is obse ed om he s a o he 3.5 h second, whe e unsuccess ul sp eade -lowe ing p ocesses occu , ending wi h a seconda y impac a he s a o he 5 h second. Figu e 8. Sp eade accele a ions along he Z-axis: Example B. To ca y ou se ious con aine damage assessmen s, i is necessa y o ace he impac e en s, ei he small o big, as demons a ed ea lie . Companies ha ing eal- ime e en - based in o ma ion would be able o immedia ely epai mino damages o he hooking mechanisms o he con aine s, p olonging hei usage wi hou hal ing he anspo a ion cycle o each sepa a e ca go. 2. Me hodology 2.1. Impac De ec ion Me hodology: In oduc ion Fo he egis a ion o epea ed impac s o he sp eade in o he con aine s, a me hod was adop ed, namely, he Impac s De ec ion Me hodology (IDM), which is based on he analysis o he e ical accele a ion pa ame e . In gene al e ms, he IDM signal p ocessing algo i hm embedded in he sys em is p esen ed in Figu e 9. This me hod was ini ially Figu e 8. Sp eade accele a ions along he Z-axis: Example B. 2. Me hodology 2.1. Impac De ec ion Me hodology: In oduc ion Fo he egis a ion o epea ed impac s o he sp eade in o he con aine s, a me hod was adop ed, namely, he Impac s De ec ion Me hodology (IDM), which is based on he analysis o he e ical accele a ion pa ame e . In gene al e ms, he IDM signal p ocessing algo i hm embedded in he sys em is p esen ed in Figu e 9. This me hod was ini ially de eloped by he au ho s using his o ical da a o he de ec ion o he ue h esholds and was discussed in de ail in [ 6 ]. The p oposed me hod o de ec ing c ane sp eade impac s in o a con aine consis s o se e al s ages: il e ing he signal, inding peak alues in he il e ed signal using s a is ical analysis, selec ing he h eshold s eps, dis inguishing po en ial momen s o impac s (e en s) using he h eshold alue, excluding he ac ual c i ical impac e en s by g ouping all he po en ial e en s, and de e mining epea ed impac s in he same a ea. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 8 o 20 de eloped by he au ho s using his o ical da a o he de ec ion o he ue h esholds and was discussed in de ail in [6]. The p oposed me hod o de ec ing c ane sp eade impac s in o a con aine consis s o se e al s ages: il e ing he signal, inding peak alues in he il e ed signal using s a is ical analysis, selec ing he h eshold s eps, dis inguishing po- en ial momen s o impac s (e en s) using he h eshold alue, excluding he ac ual c i ical impac e en s by g ouping all he po en ial e en s, and de e mining epea ed impac s in he same a ea. Figu e 9. Flowcha o he p oposed solu ion o e en da a de ec ion. The IDM me hod uses a h eshold de ec ion algo i hm, which de ec s he desi ed op- imal h eshold le el o be used as a s a ing poin o impac de ec ion, he e en e- quency, which co esponds o 100% a his poin . While he algo i hm is based on he me hod p o ided ea lie , he IoT sys em di e s, wi h he de ec ion uni moun ed on he co ne o he con aine , nea e o he impac poin . The ollowing Figu e 10 demons a es he used IoT amewo k wi h he ha dwa e module, including he digi al accele ome e , as well as he main e alua ion c i e ia in he expe imen al en i onmen . While o he com- pu a ional and elec onic elemen s a e hidden in his esea ch, hey a e discussed in he p e ious wo k by he au ho s. Ve i ica ion model logic includes he IDM ma h logic wi h a ying accep able accel- e a ion pa ame e h eshold alues. P edic ion accu acy in his case depends on he ac- cep able il e ing echnique. The ca ego ies o each impac can be classi ied in o se e al impo an e en s: ben , den , o hole in he s uc u e. O cou se, an impac o dina y can gene a e li le o no none ha m o he me al su ace; he e o e, impac s eng h and eloc- i y a e c ucial ac o s in his kind o es ima ion in eal- ime. When he c ane anspo s i s sp eade , i ib a es a i s cha ac e is ic na u al e- quency. Since he ib a ion ampli ude is small compa ed o he leng h o he lines holding he con aine , he cu e o he ib a ion in he plane is close o he sinusoid. When as- sessing he leng h o he sp eade lines, he equency o ib a ion is low. Howe e , du - ing handling phases, he sp eade is a ec ed by ex e nal o ces, o example, ansi ional p ocesses o winding o he sp eade lines o con ac o lines wi h ex e nal s uc u es, which complemen he ange o mo emen o he sp eade wi h componen s o di e en equencies. Figu e 9. Flowcha o he p oposed solu ion o e en da a de ec ion. The IDM me hod uses a h eshold de ec ion algo i hm, which de ec s he desi ed op imal h eshold le el o be used as a s a ing poin o impac de ec ion, he e en equency, which co esponds o 100% a his poin . While he algo i hm is based on he me hod p o ided ea lie , he IoT sys em di e s, wi h he de ec ion uni moun ed on he co ne o he con aine , nea e o he impac poin . The ollowing Figu e 10 demons a es J. Ma . Sci. Eng. 2023,11, 794 8 o 19 he used IoT amewo k wi h he ha dwa e module, including he digi al accele ome e , as well as he main e alua ion c i e ia in he expe imen al en i onmen . While o he compu a ional and elec onic elemen s a e hidden in his esea ch, hey a e discussed in he p e ious wo k by he au ho s. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 9 o 20 Figu e 10. Impac s de ec ion amewo k used in he s udy. The speeds and accele a ions o he sp eade ’s anspo a ion p ocess a e limi ed, so he equency o he sp eade ’s swing should be low. In he gene alizing spec um o e - ical accele a ion (Figu e 11), compiled by analyzing he 102 cycles in he pe iod o in e - es , he componen s o he low- equency accele a ion signal domina e. I can be said ha he spec um up o 5 Hz is la enough. Figu e 11. Accele a ion spec um along he Z-axis. We a e in e es ed in e en s when he sp eade comes in o con ac wi h a con aine o o he ex e nal s uc u es. Du ing con ac , he di ec ion o mo emen o he sp eade changes, which is also e lec ed in a sha p change in he alue o i s accele a ion; o ex- ample, in Figu e 12 (3 d agmen a he 23 d second o Figu e 6), a imes amps 1 s, 1.1 s, e c., hese changes in he accele a ion spec um “gene a e” highe equency componen s. Figu e 10. Impac s de ec ion amewo k used in he s udy. Ve i ica ion model logic includes he IDM ma h logic wi h a ying accep able accele a- ion pa ame e h eshold alues. P edic ion accu acy in his case depends on he accep able il e ing echnique. The ca ego ies o each impac can be classi ied in o se e al impo an e en s: ben , den , o hole in he s uc u e. O cou se, an impac o dina y can gene a e li le o no none ha m o he me al su ace; he e o e, impac s eng h and eloci y a e c ucial ac o s in his kind o es ima ion in eal- ime. When he c ane anspo s i s sp eade , i ib a es a i s cha ac e is ic na u al equency. Since he ib a ion ampli ude is small compa ed o he leng h o he lines holding he con aine , he cu e o he ib a ion in he plane is close o he sinusoid. When assessing he leng h o he sp eade lines, he equency o ib a ion is low. Howe e , du ing handling phases, he sp eade is a ec ed by ex e nal o ces, o example, ansi ional p ocesses o winding o he sp eade lines o con ac o lines wi h ex e nal s uc u es, which complemen he ange o mo emen o he sp eade wi h componen s o di e en equencies. The speeds and accele a ions o he sp eade ’s anspo a ion p ocess a e limi ed, so he equency o he sp eade ’s swing should be low. In he gene alizing spec um o e ical accele a ion (Figu e 11), compiled by analyzing he 102 cycles in he pe iod o in e es , he componen s o he low- equency accele a ion signal domina e. I can be said ha he spec um up o 5 Hz is la enough. We a e in e es ed in e en s when he sp eade comes in o con ac wi h a con aine o o he ex e nal s uc u es. Du ing con ac , he di ec ion o mo emen o he sp eade changes, which is also e lec ed in a sha p change in he alue o i s accele a ion; o example, in Figu e 12 (3 d agmen a he 23 d second o Figu e 6), a imes amps 1 s, 1.1 s, e c., hese changes in he accele a ion spec um “gene a e” highe equency componen s. A glance a he spec og am (Figu e 13, whe e he da ke he ed colo , he s onge he signal) o he accele a ion shown in g aph 6 con i ms ha a he 23 d second, he e was an impac on he con aine : he accele a ion signal domina es he spec um sec ion. On his basis, i would be possible o de e mine whe he he e was con ac be ween he sp eade wi h he con aine . J. Ma . Sci. Eng. 2023,11, 794 9 o 19 J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 9 o 20 Figu e 10. Impac s de ec ion amewo k used in he s udy. The speeds and accele a ions o he sp eade ’s anspo a ion p ocess a e limi ed, so he equency o he sp eade ’s swing should be low. In he gene alizing spec um o e - ical accele a ion (Figu e 11), compiled by analyzing he 102 cycles in he pe iod o in e - es , he componen s o he low- equency accele a ion signal domina e. I can be said ha he spec um up o 5 Hz is la enough. Figu e 11. Accele a ion spec um along he Z-axis. We a e in e es ed in e en s when he sp eade comes in o con ac wi h a con aine o o he ex e nal s uc u es. Du ing con ac , he di ec ion o mo emen o he sp eade changes, which is also e lec ed in a sha p change in he alue o i s accele a ion; o ex- ample, in Figu e 12 (3 d agmen a he 23 d second o Figu e 6), a imes amps 1 s, 1.1 s, e c., hese changes in he accele a ion spec um “gene a e” highe equency componen s. Figu e 11. Accele a ion spec um along he Z-axis. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 10 o 20 Figu e 12. Shock momen s along he Z-axis du ing mo emen in he hull o he ship. A glance a he spec og am (Figu e 13, whe e he da ke he ed colo , he s onge he signal) o he accele a ion shown in g aph 6 con i ms ha a he 23 d second, he e was an impac on he con aine : he accele a ion signal domina es he spec um sec ion. On his basis, i would be possible o de e mine whe he he e was con ac be ween he sp eade wi h he con aine . Figu e 13. Accele a ion spec og am along he Z-axis. 2.2. De ec ion o Impac E en s: Backg ound As was al eady no ed, impac s c ea e highe - equency componen s in he accele a- ion signal; hence, hese oscilla ions a e isola ed o u he s udy wi h he aid o a high- equency il e (high-pass il e ). He e, a il e ha has he lowes possible phase dis o - ions, a cons an delay o e he equency ange, and a mono onic ampli ude esponse ac oss he ange o passing equencies is equi ed o educe he dis o ion o he signal o u he analysis (1). 𝐻󰇛𝑧󰇜=󰇛󰇜 󰇛󰇜=𝑏 +𝑏 𝑧 +𝑏 𝑧 +⋯+𝑏 𝑧. (1) whe e N— he il e ow and b— he coe icien s ha a e ob ained using he GNU Oc a e unc ion “ i 1”. Figu e 12. Shock momen s along he Z-axis du ing mo emen in he hull o he ship. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 10 o 20 Figu e 12. Shock momen s along he Z-axis du ing mo emen in he hull o he ship. A glance a he spec og am (Figu e 13, whe e he da ke he ed colo , he s onge he signal) o he accele a ion shown in g aph 6 con i ms ha a he 23 d second, he e was an impac on he con aine : he accele a ion signal domina es he spec um sec ion. On his basis, i would be possible o de e mine whe he he e was con ac be ween he sp eade wi h he con aine . Figu e 13. Accele a ion spec og am along he Z-axis. 2.2. De ec ion o Impac E en s: Backg ound As was al eady no ed, impac s c ea e highe - equency componen s in he accele a- ion signal; hence, hese oscilla ions a e isola ed o u he s udy wi h he aid o a high- equency il e (high-pass il e ). He e, a il e ha has he lowes possible phase dis o - ions, a cons an delay o e he equency ange, and a mono onic ampli ude esponse ac oss he ange o passing equencies is equi ed o educe he dis o ion o he signal o u he analysis (1). 𝐻󰇛𝑧󰇜=󰇛󰇜 󰇛󰇜=𝑏 +𝑏 𝑧 +𝑏 𝑧 +⋯+𝑏 𝑧. (1) whe e N— he il e ow and b— he coe icien s ha a e ob ained using he GNU Oc a e unc ion “ i 1”. Figu e 13. Accele a ion spec og am along he Z-axis. J. Ma . Sci. Eng. 2023,11, 794 16 o 19 J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 17 o 20 Figu e 24. His og am o he maximum ampli udes o he e en s. 3. Resul s and Discussions The ollowing Figu e 25 demons a es he esul s o he adop ion o he p oposed me hodology wi h he selec ed op imum alues om he p e ious sec ion and is shown in Figu e 8, whe e he seconda y impac s a e ma ked wi h squa es. Figu e 25. P ima y and seconda y impac s along he Z-axis (he e he ed ci cles indica e he ini ial impac s and he ed squa es indica e he seconda y impac s). The me hodology con i med he p ima y p edic ions: a he s a o he 5 h second, a second impac occu ed due o sp eade ajec o y change and he s a o he second hooking p ocedu e. The ollowing Figu e 26 shows he his og am o po en ial impac e en s ob ained a e p ocessing 102 cycles wi h he p oposed me hodology, indica ing all he c i ical impac s du ing he a o emen ioned handling ope a ions pe o med onboa d he con aine ship (while mo ing he con aine along he e ical cell guides inside he ship owa ds he con aine s). Figu e 24. His og am o he maximum ampli udes o he e en s. 3. Resul s and Discussion The ollowing Figu e 25 demons a es he esul s o he adop ion o he p oposed me hodology wi h he selec ed op imum alues om he p e ious sec ion and is shown in Figu e 8, whe e he seconda y impac s a e ma ked wi h squa es. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 17 o 20 Figu e 24. His og am o he maximum ampli udes o he e en s. 3. Resul s and Discussions The ollowing Figu e 25 demons a es he esul s o he adop ion o he p oposed me hodology wi h he selec ed op imum alues om he p e ious sec ion and is shown in Figu e 8, whe e he seconda y impac s a e ma ked wi h squa es. Figu e 25. P ima y and seconda y impac s along he Z-axis (he e he ed ci cles indica e he ini ial impac s and he ed squa es indica e he seconda y impac s). The me hodology con i med he p ima y p edic ions: a he s a o he 5 h second, a second impac occu ed due o sp eade ajec o y change and he s a o he second hooking p ocedu e. The ollowing Figu e 26 shows he his og am o po en ial impac e en s ob ained a e p ocessing 102 cycles wi h he p oposed me hodology, indica ing all he c i ical impac s du ing he a o emen ioned handling ope a ions pe o med onboa d he con aine ship (while mo ing he con aine along he e ical cell guides inside he ship owa ds he con aine s). Figu e 25. P ima y and seconda y impac s along he Z-axis (he e he ed ci cles indica e he ini ial impac s and he ed squa es indica e he seconda y impac s). The me hodology con i med he p ima y p edic ions: a he s a o he 5 h second, a second impac occu ed due o sp eade ajec o y change and he s a o he second hooking p ocedu e. The ollowing Figu e 26 shows he his og am o po en ial impac e en s ob ained a e p ocessing 102 cycles wi h he p oposed me hodology, indica ing all he c i ical impac s du ing he a o emen ioned handling ope a ions pe o med onboa d he con aine ship (while mo ing he con aine along he e ical cell guides inside he ship owa ds he con aine s). J. Ma . Sci. Eng. 2023,11, 794 17 o 19 J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 18 o 20 Figu e 26. His og am o po en ial impac s (e en s). Resul s indica e ha he numbe o o e all impac s du ing hese p ocedu es is qui e la ge, eaching up o 30 impac -induced ib a ions in mos cases (26.6%). The ollowing his og am o eco ded impac s acco ding o he Z-axis (Figu e 27) indica es ha a leas one impac e en occu s a each new handling ope a ion when he sp eade impac s he con aine in he inne sha o he ship, meaning ha he me hodology de ec s he ini ial hooking p ocedu es well. Figu e 27. His og am o de ec ed impac s (e en s). Almos 75% o all handling p ocedu es a e pe o med in blind condi ions, eaching up o i e impac s a a single p ocedu e, which in u n esul s in me al de o ma ions o di e en so s, o a leas s ongly in luences he cons uc ion in eg i y and sa e y in u u e ope a ions. I can be a gued ha epea ed impac s a e no a a e phenomenon, and hey occu qui e egula ly. Wi h hese p ecise expe imen al measu emen s, he algo i hm de- ec ed enough impac s o he same a eas o each co ne o add ess he necessi y o in- ime de ec ion and long- e m S uc u al Heal h Moni o ing. All o he impac s we e de ec ed wi h a high deg ee o accu acy using he p esen ed s ep-by-s ep de ec ion me hodology and senso y echnical means. The p oposed me hodology is he e o e sui able o be used o de ec hese impac s in an almos eal- ime manne i used app op ia ely and wi h su - icien compu a ional powe o he inne logic o manage he analy ics in due ime. The ollowing Figu e 28 summa izes all he de ec ed impac s and highligh s he epea ed Figu e 26. His og am o po en ial impac s (e en s). Resul s indica e ha he numbe o o e all impac s du ing hese p ocedu es is qui e la ge, eaching up o 30 impac -induced ib a ions in mos cases (26.6%). The ollowing his og am o eco ded impac s acco ding o he Z-axis (Figu e 27) indica es ha a leas one impac e en occu s a each new handling ope a ion when he sp eade impac s he con aine in he inne sha o he ship, meaning ha he me hodology de ec s he ini ial hooking p ocedu es well. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 18 o 20 Figu e 26. His og am o po en ial impac s (e en s). Resul s indica e ha he numbe o o e all impac s du ing hese p ocedu es is qui e la ge, eaching up o 30 impac -induced ib a ions in mos cases (26.6%). The ollowing his og am o eco ded impac s acco ding o he Z-axis (Figu e 27) indica es ha a leas one impac e en occu s a each new handling ope a ion when he sp eade impac s he con aine in he inne sha o he ship, meaning ha he me hodology de ec s he ini ial hooking p ocedu es well. Figu e 27. His og am o de ec ed impac s (e en s). Almos 75% o all handling p ocedu es a e pe o med in blind condi ions, eaching up o i e impac s a a single p ocedu e, which in u n esul s in me al de o ma ions o di e en so s, o a leas s ongly in luences he cons uc ion in eg i y and sa e y in u u e ope a ions. I can be a gued ha epea ed impac s a e no a a e phenomenon, and hey occu qui e egula ly. Wi h hese p ecise expe imen al measu emen s, he algo i hm de- ec ed enough impac s o he same a eas o each co ne o add ess he necessi y o in- ime de ec ion and long- e m S uc u al Heal h Moni o ing. All o he impac s we e de ec ed wi h a high deg ee o accu acy using he p esen ed s ep-by-s ep de ec ion me hodology and senso y echnical means. The p oposed me hodology is he e o e sui able o be used o de ec hese impac s in an almos eal- ime manne i used app op ia ely and wi h su - icien compu a ional powe o he inne logic o manage he analy ics in due ime. The ollowing Figu e 28 summa izes all he de ec ed impac s and highligh s he epea ed Figu e 27. His og am o de ec ed impac s (e en s). Almos 75% o all handling p ocedu es a e pe o med in blind condi ions, eaching up o i e impac s a a single p ocedu e, which in u n esul s in me al de o ma ions o di e en so s, o a leas s ongly in luences he cons uc ion in eg i y and sa e y in u u e ope a ions. I can be a gued ha epea ed impac s a e no a a e phenomenon, and hey occu qui e egula ly. Wi h hese p ecise expe imen al measu emen s, he algo i hm de ec ed enough impac s o he same a eas o each co ne o add ess he necessi y o in- ime de ec ion and long- e m S uc u al Heal h Moni o ing. All o he impac s we e de ec ed wi h a high deg ee o accu acy using he p esen ed s ep-by-s ep de ec ion me hodology and senso y echnical means. The p oposed me hodology is he e o e sui able o be used o de ec hese impac s in an almos eal- ime manne i used app op ia ely and wi h su icien compu a ional powe o he inne logic o manage he analy ics in due ime. The ollowing Figu e 28 summa izes all he de ec ed impac s and highligh s he epea ed impac du ing J. Ma . Sci. Eng. 2023,11, 794 18 o 19 he sp eade lowe ing p ocess owa d he con aine in he inne sha s o he con aine ship. J. Ma . Sci. Eng. 2023, 11, x FOR PEER REVIEW 19 o 20 impac du ing he sp eade lowe ing p ocess owa d he con aine in he inne sha s o he con aine ship. Figu e 28. Compa ison o he o al numbe o de ec ed impac s among he en i e da a se . The esul s show ha he p oposed me hodology can iden i y c i ical physical im- pac s, and in ou case s udies, we managed o de ec up o i e impac s a a single handling cycle, meaning ha he sp eade con inuously impac ed he same me al pla e o he co ne o he con aine nea he hooking a ea, g adually de o ming he me al s uc u e due o con inuous momen um s ess. In o he case s udies, we managed o de ec a highe num- be o impac s in almos hal o he case s udies, anging be ween one and ou impac s in mos cases, indica ing ha almos 50% o he handling p ocedu es a e less e icien in e ms o collision a oidance, due o he unp edic able human e o ac o and chao ic dy- namics o he p ocess due o ex e nal en i onmen al in luences. The esul s also show ha he p oposed solu ion can iden i y c i ical impac s in each case s udy. Au ho Con ibu ions: Concep ualiza ion, S.J. and T.E.; me hodology, S.J., T.E. and M.V.; so wa e, P.P. and J.T.; alida ion, M.J. and P.P.; o mal analysis, S.J. and T.E.; in es iga ion, M.J. and M.V.; esou ces, M.J.; da a cu a ion, T.E.; w i ing—o iginal d a p epa a ion, S.J. and P.P.; w i ing— e- iew and edi ing, M.V. and J.T.; isualiza ion, T.E., P.P. and J.T.; supe ision, S.J.; p ojec admin- is a ion, S.J.; and unding acquisi ion, S.J. All au ho s ha e ead and ag eed o he published e sion o he manusc ip . Funding: This esea ch was unded by he Klaipeda Uni e si y p ojec JKSMART. This p ojec has ecei ed unding om he Eu opean Regional De elopmen Fund (p ojec No. 01.2.2-LMT-K-718- 03-0001) unde a g an ag eemen wi h he Resea ch Council o Li huania (LMTLT). Ins i u ional Re iew Boa d S a emen : No applicable. In o med Consen S a emen : No applicable. Da a A ailabili y S a emen : No applicable. Con lic s o In e es : The au ho s decla e no con lic o in e es . Re e ences 1. Chang, C.H.; Xu, J.; Song, D.P. An Analysis o Sa e y and Secu i y Risks in Con aine Shipping Ope a ions: A Case S udy o Taiwan. Sa . Sci. 2014, 63, 168–178. h ps://doi.o g/10.1016/j.ssci.2013.11.008. 2. Sepeh i, A.; Vandchali, H.R.; Siddiqui, A.W.; Mon ewka, J. The Impac o Shipping 4.0 on Con olling Shipping Acciden s: A Sys ema ic Li e a u e Re iew. Ocean Eng. 2022, 243, 110162. h ps://doi.o g/10.1016/j.oceaneng.2021.110162. 3. Eglynas, T.; Jusis, M.; Jako le , S.; Senulis, A.; Pa ila, P.; Gudas, S. Resea ch o Quay C ane Con ol Algo i hm wi h Embedded Sway Con ol Sub-Rou ine. In P oceedings o he 2019 27 h Telecommunica ions Fo um (TELFOR), Belg ade, Se bia, 26–27 No embe 2019; pp. 17–20. h ps://doi.o g/10.1109/TELFOR48224.2019.8971115. Figu e 28. Compa ison o he o al numbe o de ec ed impac s among he en i e da a se . The esul s show ha he p oposed me hodology can iden i y c i ical physical impac s, and in ou case s udies, we managed o de ec up o i e impac s a a single handling cycle, meaning ha he sp eade con inuously impac ed he same me al pla e o he co ne o he con aine nea he hooking a ea, g adually de o ming he me al s uc u e due o con inuous momen um s ess. In o he case s udies, we managed o de ec a highe numbe o impac s in almos hal o he case s udies, anging be ween one and ou impac s in mos cases, indica ing ha almos 50% o he handling p ocedu es a e less e icien in e ms o collision a oidance, due o he unp edic able human e o ac o and chao ic dynamics o he p ocess due o ex e nal en i onmen al in luences. The esul s also show ha he p oposed solu ion can iden i y c i ical impac s in each case s udy. Au ho Con ibu ions: Concep ualiza ion, S.J. and T.E.; me hodology, S.J., T.E. and M.V.; so wa e, P.P. and J.T.; alida ion, M.J. and P.P.; o mal analysis, S.J. and T.E.; in es iga ion, M.J. and M.V.; esou ces, M.J.; da a cu a ion, T.E.; w i ing—o iginal d a p epa a ion, S.J. and P.P.; w i ing— e iew and edi ing, M.V. and J.T.; isualiza ion, T.E., P.P. and J.T.; supe ision, S.J.; p ojec adminis a ion, S.J.; and unding acquisi ion, S.J. All au ho s ha e ead and ag eed o he published e sion o he manusc ip . Funding: This esea ch was unded by he Klaipeda Uni e si y p ojec JKSMART. This p ojec has ecei ed unding om he Eu opean Regional De elopmen Fund (p ojec No. 01.2.2-LMT-K-718-03- 0001) unde a g an ag eemen wi h he Resea ch Council o Li huania (LMTLT). Ins i u ional Re iew Boa d S a emen : No applicable. In o med Consen S a emen : No applicable. Da a A ailabili y S a emen : No applicable. Con lic s o In e es : The au ho s decla e no con lic o in e es . Re e ences 1. 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