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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

Design of envelope analysis software for LNG unloading arm

based on MATLAB App

Chenhui Deng1, Bo Yu2*

1
China State Shipbuilding Group Co. LTD, Shanggai, 200011, CHINA
2*
JARI Automation Co. LTD, Lianyungang, Jiangsu Province, 222000, CHINA
*
Corresponding author’s e-mail: 1432078589@qq.com

Abstract. According to investigate the current situation of the envelope of LNG unloading arm,
this paper in view of the relationship between the structure and the envelope of LNG unloading
arm, a complete set of calculation program is designed by using the app designer of MATLAB
which can automatically generate the envelope according to the hydrological conditions. The
program can be used to guide the emergency disengagement process of the unloading arm in
case it can work safely on the LNG terminal in the actual project. This paper provides a design
basis for promoting the domestic development of LNG unloading arm.

1. Introduction
Natural gas is increasingly favored as a clean energy source. Liquefied natural gas can save space and
cost for storage and transportation. Many countries have listed liquefied natural gas (LNG) as the fuel
of choice, making it one of the fastest growing energy industries in the world. In recent years, global
LNG production and trade have become increasingly active. In order to ensure the diversification of
energy supply and improve the energy consumption structure, some major energy consumption
countries pay more and more attention to the introduction of LNG and the construction of LNG
receiving stations.
The LNG receiving station is coordinated through the use of a number of related equipment, such
as discharge arms, storage tanks, low pressure transfer pumps, high pressure transfer pumps,
carburetors, BOG compressors, etc. The unloading arm is the mechanical arm that transfers the LNG
from the Marine carrier to the storage tank through the corresponding pipeline. It is the first step for
the LNG receiving station to receive the LNG. At present, most of the unloading arms are still
imported from abroad. Recently, the world's first domestic LNG unloading arm with automatic
docking function was officially put into use in Tianjin LNG Terminal, the first "double berth" LNG
terminal in China, jointly carrying out docking work with four foreign unloading arms. The
localization of LNG unloading arm accelerates the localization process of LNG key equipment,
making greater contribution to China's building of the whole LNG industry chain and ensuring
national energy security.
As the hull of LNG is affected by wind and waves and is prone to displacement when receiving
LNG, it is the key technology for the unloading arm to work safely within the attainable envelope
range, and ensuring the safe work of the unloading arm is an important factor for realizing localization.

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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

2. Technical status
Liu Liwei conducted mechanism and kinematics analysis modeling for an LNG handling arm
mechanism [1]. Shui Mingxing proposed the range of unloading arm for monitoring the movement of
unloading arm up and down and left and right [2]. Byoung-Yeol Choi et al. studied the influence of
ship's quasi-static mooring analysis on the envelope of the unloading arm [3]. There is no general
solution for manually operated offshore loading arm automation in the OCIMF specification [4].
Bertrand LANQUETIN eliminated the waste of the envelope by optimizing the Emergency Shut
Down(ESD) and Emergency Release System(ERS) sequence duration, ship drift distance and speed,
and arm design in response to the deficiencies in the ESD and ERS alarm Settings in the 《OCIMF
Code for Design and Construction of Marine Loading Arms 》(3rd Edition -1999) [5].
Chen Guoxia et al. studied the installation process and technical methods of LNG unloading arm at
various stages [6]. Liu Yun et al. proposed different connection modes of emergency disengagement
system and discharging arm interface [7].
R M Pitblado et al. adopted man-machine interface design and integration with PLC, proposed a
general control strategy, and realized the automation of operation and real-time monitoring of the
offshore loading arm [8]. Nigel Ugas et al. developed an operation-friendly real-time visual interface
to continuously monitor whether the handling arm exceeds its safe operating limit and start the
shutdown procedure when needed [9]. Tian Xiaofu studied the application of the satellite automatic
docking technology to the docking of the unloading arm to realize the automatic docking of the
unloading arm [10]. Han Yu et al. studied the communication requirements for stop operation
procedures of FSRU ship-to-shore transmission operations [11]. Wang Yi et al. studied the automatic
recovery and rotary joint technology of CNG arm after emergency disengagement [12].
Muhammad Hidayat et al. designed an automatic unloading arm with UR3 arm robot to realize the
automatic process [13]. Gao Zengfu et al. are mainly based on cyclic neural network to achieve
effective prediction of trajectory position and pose. At the same time, the mapping relationship
between the end of the robot arm and the end of the human arm was analyzed, and the network
prediction results were successfully applied to the end of the robot arm. Combined with the inverse
kinematics solving algorithm of the robot arm, trajectory planning was realized [14]. Zhao Wenkang et
al. mainly aimed at multi-objective optimization and optimization of arm [15]. Liu Changhao et al.
took space manipulator as the main research object, optimized the dynamic modeling of space
manipulator, and solved the uncertainty in the process of space manipulator dynamic modeling [16].
At present, there is no complete, systematic and practical solution for the formation of the envelope
of the unloading arm. Therefore, this paper focuses on the automatic formation of the envelope and the
condition of emergency disengagement.

3. Unloading arm structure

LNG Marine Loading and Unloading arm is a system of articulated pipes installed on a dock (or
floating terminal) for unloading. When the LNG carrier arrives at the special terminal of the receiving
station, it sends the LNG into the storage tank of the receiving station by means of the liquid phase
discharge arm and discharge pipeline, and the BOG gas in the storage tank returns to the LNG
transportation through the return gas pipeline and gaseous return gas arm [7]. The LNG unloading arm
is mainly composed of a column, an inner arm, an outer arm and a three-dimensional rotary joint, as
shown in Figure 1. The column is the main supporting part of the loading and unloading arm
connected with the ground bolt on the basis of the site, and the flow pipe is passed from the inside.
This part is mainly used to support the weight, medium weight, eccentric moment and wind load of the
whole loading and unloading arm. The bottom is connected with the dock pipeline by the flange
interface, and the top of the column is connected with the rotating axle box through the rotary support.
The inner arm is connected with the top of the column through the support box, the upper part of the
support box is connected with the upper rope wheel, and the upper rope wheel is driven by rotation;
The upper end of the outer arm is connected with the upper rope wheel, and the lower end is connected
with the three-dimensional joint. The movement of the outer arm is realized by the outer arm drive

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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

device, which can butt smoothly with the collecting pipe flange of the receiving ship; The three-
dimensional rotating assembly is composed of three detachable rotary joints (Emergency Release
Coupling, Quick Connection/Disconnection Coupling) and pipe fittings, etc. The flanges of the quick
connection devices are always vertical in order to be quickly connected to the receiving vessel's
manifold flange [17].

Figure 1. Structure diagram of LNG unloading arm.

The envelope refers to the range that can be reached when the LNG unloading arm is fixed on the
shoreline, including the docking area, work area, alarm area and emergency escape area. At the same
time, it can be divided into pitching direction and left and right turning direction. The LNG unloading
arm is equipped with a safety system (ESD system). It can reduce potential risks in transferring
liquefied gas between ships and shore handling equipment. In the event of a failure that affects the
operator's ability to safely control the transfer of cargo, it provides a quick and safe means of stopping
the transfer of cargo and isolating the ship and shore-based cargo systems in a controlled manner
(manual or automatic). The safety system of the loading arm of LNG ships is designed with two alarm
systems, which are divided into the first-level displacement alarm range (ESD1) and the second-level
displacement alarm range (ESD2). If the LNG ship shifts to the first-level alarm position, the double-
ball valve will be closed in case of emergency escape. If the LNG ship continues to drift to the level 2
alarm position, the emergency disengage system will open the hoops locking device to realize the
separation between the loading arm and the ship [18], as shown in Table 1 and Table 2 [19].
Table 1. ESD1 operation table.
Movement of ship Shore action
Send ESD signals ashore Accept ESD signals from the ship
Accept ESD signals ashore → Send an ESD signal to the ship
or
Marine steam return compressor ← Stop loading pump
Close the manifold valve within 25-30s Close the ESD valve within 10 to 15 seconds

Table 2. ESD2 operation table.

Shore action
Start ESD1 immediately
-
Close the ERS valve within 5s
Disconnect the unloading arm within 2s after the ERS valve is closed

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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

4. Structural relationship
The main factors affecting the envelope of unloading arm are divided into two categories. One is the
unloading arm parameter, the other is the hydrological parameter (according to the different
hydrological parameters specified by different docks).
The simplification of the LNG unloading arm is shown in Figure 2, and the meanings of parameters
are shown in Table 3.

Figure 2. Simplified diagram of LNG unloading arm.

Table 3. Unloading arm parameters.

Unloading arm parameters Meaning
A Horizontal dimension of 3D joint
B Vertical dimension of 3D joint
C Distance between 3D joint and outer arm center
D Distance between inner arm and outer arm center
E Distance between column and center line
F Outer arm length
G Inner arm length
H Column height
OFFSET Total offset (C+D+E)
α Open Angle of inner arm and outer arm
L Open Distance of inner arm and outer arm

Where, when the unloading arm reaches the farthest moving position, the maximum extension
Angle is α and the extension distance is L; When the unloading arm reaches the moving position of
ESD1, the maximum extension Angle is α1 and the extension distance is L1. When the unloading arm
reaches the moving position of ESD2, the maximum extension Angle is α2 and the extension distance
is L2. The parameter diagram is shown in Figure 2 and Figure 3.

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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

149°

α α1 α2

2975 ,55

L L1 L2

Figure 3. Angle and distance diagram.

The top view of the unloading arm is shown in Figure 4, and its parameters are shown in Table 4.
Y

Figure 4. Top view of the unloading arm.

Table 4. Top view parameter.

Parameters Meaning
X Longitudinal distance from wharf
Y Lateral distance from wharf
Ω Unloading arm rotation Angle

According to the geometric relation shown in Figure 4, Ω can be obtained from OFFSET, X and Y.
OFFSET
+ X tan Ω = Y
cos Ω
Due to the action of water, the ship docked at the shore will produce sag, roll, roll, pitch, roll and
pitch, which will drive the movement of LNG unloading arm on the wharf. The hydrological
parameters mainly include the lowest position of ship to ship (Mmin), the highest position of ship to
ship (Mmax), the lowest position of water level (Wmin), the highest position of water level (Wmax),
the distance between the column center and the wharf (P), the distance between the wharf column (J),
the maximum thickness of fender (Qmax), the minimum thickness of fender (Qmin), and the minimum
distance between flange and fender (R) min), maximum distance from flange to fender (Rmax),
allowable longitudinal drift (S), allowable transverse drift (N), allowable drift of ESD1 (T1), allowable

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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

drift of ESD2 (T2), minimum flange spacing (Omin), maximum flange spacing (Omax), number of
discharge arms on wharf (n) and allowable drift distance in alignment (K) , as shown in Table 5.
Table 5. Top view parameter.
Hydrological parameters Symbol
Docking position M
Water level W
Distance from center of column to wharf P
Distance between wharf columns J
Fender thickness Q
Distance from flange to fender R
Allowable longitudinal drift S
Allowable lateral drift N
ESD1 allows drift T1
ESD2 allows drift T2
Flange spacing O
Number of unloading arms on wharf n
Allowable drift distance in alignment K
Determine the lowest/highest position that can be reached at the end of the discharge arm based on
the water level and the full load of small vessels and the empty load of large vessels. The height of the
end flange of the unloading arm is expressed as:

Z = −W + M
From the inner arm length G, the outer arm length F, the up and down pitching Angle α, and the
opening distance of the inner and outer arms L, there are:

G 2 + F 2 − L2 = 2GF cos α G
Assume that the deviation angle of the inner arm from the column is β1, and the deviation angle of
the outer arm from the inner arm is β2, as shown in Figure 5.
z

β1

α
H0 H β2
F

x
Z B

Figure 5. Unloading arm diagram of x-z axis.

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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

From the inner arm length G, the outer arm length F, the height of the column H, the vertical
dimension of the three-dimensional joint B, the height of the end flange of the feed arm Z, the Angle
from which the inner arm deviates from the column is β1, the Angle from which the outer arm deviates
from the inner arm is β2, and the distance L opened by the inner and outer arms is projected as L0 in the
direction x, as follows:
α + β2 = π
H + G cos β1 + F cos( β1 + β2 ) − B = Z
G sin β1 + F sin( β1 + β2 ) = L0
In the docking zone, the distance in the x direction is:
x = P +Q + R
In the workspace, the distance in the x direction is:
x = P +Q + R + S
In the alarm area, the distance in the x direction is:
x = P + Q + R + S + ESD1
In the emergency release zone, the distance in the x direction is:
x = P + Q + R + S + ESD1 + ESD2

5. MATLAB App Designer

MATLAB forms MATLAB app designer based on GUI, which can realize quick switching between
visual design and code development in MATLAB editor. At the same time, the embedded editor is
used to add new attributes, callbacks and other functions, and generate object-oriented code that is
easy to understand and maintain [20].

6. LNG unloading arm envelope calculation program

The purpose of calculating the envelope of the LNG unloading arm is to input the hydrologic
parameters of the wharf according to the hydrologic parameters of different docks, obtain the
recommended value of the arm length parameter, movement Angle and range, alarm Angle and alarm
range of the LNG large-caliber shoreline intelligent handling system, and automatically generate the
envelope diagram of the loading and unloading system, as shown in Figure 6.

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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

Visual input interface

Save Parameter Modify

Output interface
Figure 6. Program procedure.
The calculation program mainly includes two modules: geometric relationship verification and
envelope calculation program, as shown in Figure 7. The envelope calculation program also includes:
unloading arm pitching direction envelope, center column rotation direction envelope and multiple
column rotation direction envelope.
LNG unloading arm envelope calculation program

Verification of geometric
Envelope calculation program
relation

Input Output

Height of
Known Geometric Unloading arm Hydrological Arm length
Envelope connecting
data correspondence parameters parameter parameter
flange
Figure 7. The main composition of the program page.

6.1. Pitch direction envelope interface

According to the parameters entered in "Input parameter Interface", calculate the length parameters
and pitching Angle of the unloading arm by using the restrictive conditions, and draw the envelope of
the pitching direction of the unloading arm to provide ESD1, ESD2 and the maximum working range,
as shown in Figure 8.

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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

Maximum operating range

ESD2 Alert range

ESD1 Alert range

Figure 8. Pitch direction envelope.

6.2. Center column rotation direction envelope interface

According to the parameters entered in the "Input parameter interface", the position of the center
column and the corresponding flange on board and various restrictions are used to calculate the left
and right rotation direction of the center column, and the envelope line of the left and right rotation
direction of the unloading arm is drawn to provide ESD1, ESD2 and the maximum working range, as
shown in Figure 9. In addition, when the curve drawn from the ship and dock alignment has no
deviation to the deviation distance K, the envelope deviation range of the center column.

Maximum operating range

ESD2 Alert range

Wharf column Ship flange

ESD1 Alert range

Figure 9. Center column rotation direction envelope.

6.3. Multiple column rotation direction envelope interface

According to the parameters input in the "input parameter interface", using the restrictive conditions,
including: when there is a distance K between the ship and the dock, as well as the distance between
the flanges on the ship, the left and right rotation direction Angle of each column on the dock is

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IMA-2023 IOP Publishing
Journal of Physics: Conference Series 2492 (2023) 012001 doi:10.1088/1742-6596/2492/1/012001

calculated, and the envelope lines of the left and right rotation direction of multiple discharge arms are
drawn to provide ESD1, ESD2 and the maximum working range, as shown in Figure 10.

Unloading arm
column 1

Ship flange

Unloading arm Ship flange

column n

Figure 10. Multiple column rotation direction envelope.

7. Conclusion
In this paper, the calculation program of LNG unloading arm is developed based on MATLAB app
designer, and the envelope of unloading arm can be automatically generated according to input
parameters.
The envelope diagram can be obtained through the calculation program, and the output parameters
can effectively control the shutdown system of the loading arm, so as to guide the safety work of the
receiving station and improve the efficiency of the LNG receiving station.

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