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Developing digital twins for zero-emission and climate-resilient inland waterway transport

Inland waterway transport (IWT) is one of Europe’s most energy-efficient freight modes, requiring far less energy per tonne-kilometre than road or rail. Yet, it still contributes to greenhouse gas emissions. Under the European Union (EU) commitment to climate neutrality by 2050, transitioning IWT to zero- emission (ZE) operation has become a key but complex systemic challenge. IWT system performance is shaped by fluctuating water levels, which affect navigability, vessel loading capacity, and energy consumption, as well as by infrastructure constraints and an ageing, heterogeneous fleet. Addressing these challenges requires an integrated approach linking multiple systems, domains, and spatial and temporal scales. A digital twin can provide such a framework by integrating logistics, infrastructure constraints, environmental conditions, fleet composition, operational dynamics, and energy systems. This enables stakeholders to assess operational, tactical, and strategic decisions within a consistent digital environment.

Addressing these challenges requires an integrated approach linking multiple systems, domains, and spatial and temporal scales. A digital twin can provide such a framework by integrating logistics, infrastructure constraints, environmental conditions, fleet composition, operational dynamics, and energy systems. This enables stakeholders to assess operational, tactical, and strategic decisions within a consistent digital environment. ...
To support a modal shift toward sustainable freight solutions, such as inland waterway transport (IWT), researchers and practitioners require long-term historical data on IWT freight flows. However, such comprehensive time series have been unavailable until now. This study addresses this gap by presenting a harmonized dataset encompassing 50 years (1970–2023) of IWT freight data across Europe, with a focus on the Rhine-Alpine Corridor. The dataset includes transport volumes (in tonnes) and transport performance (in ton-kilometers), classified according to NST-R, NST2007, and CCR nomenclatures. To ensure data continuity and completeness, processing techniques—including imputation and optical character recognition—were applied. The dataset offers valuable insights for researchers, policymakers, and transport planners aiming to comprehend and enhance the role of IWT in Europe’s freight transport landscape. ...

The Key to Effective Inland Shipping Emission-Reduction Policy Design

Journal article (2025) - Solange van der Werff, Fedor Baart, Mark van Koningsveld
Policymakers in the maritime sector face the challenge of designing and implementing decarbonization policies while maintaining safe navigation. Herein, the inland sector serves as a promising stepping stone due to the possibility of creating a dense energy supply infrastructure and shorter distances compared to marine shipping. A key challenge is to consider the totality of all operational profiles as a result of the range of vessels and routes encountering varying local circumstances. In this study, we use a new scheme called “event table” to transform big data on vessel trajectories (AIS data) combined with energy-estimating algorithms into shipping-emission outcomes that can be evaluated from multiple perspectives. We can subsequently tie observations in one perspective (for example, large-scale spatial patterns on a map) to supporting explanations based on another perspective (for example, water currents, vessel speeds, or engine ages and their contributions to emissions). Hence, combining these outcomes from multiple perspectives and evaluation scales provides an essential understanding of how the system works and what the most effective improvement measures will be. With our approach, we can translate large quantities of data from multiple sources into multiple linked perspectives on the shipping system. ...
Journal article (2024) - Floris Reinier Calkoen, Arjen Pieter Luijendijk, Kilian Vos, Etiënne Kras, Fedor Baart
Coastal science has entered a new era of data-driven research, facilitated by satellite data and cloud computing. Despite its potential, the coastal community has yet to fully capitalize on these advancements due to a lack of tailored data, tools, and models. This paper demonstrates how cloud technology can advance coastal analytics at scale. We introduce GCTS, a novel foundational dataset comprising over 11 million coastal transects at 100-m resolution. Our experiments highlight the importance of cloud-optimized data formats, geospatial sorting, and metadata-driven data retrieval. By leveraging cloud technology, we achieve up to 700 times faster performance for tasks like coastal waterline mapping. A case study reveals that 33% of the world’s first kilometer of coast is below 5 m, with the entire analysis completed in a few hours. Our findings make a compelling case for the coastal community to start producing data, tools, and models suitable for scalable coastal analytics. ...
Journal article (2024) - Fedor Baart, Gerben de Boer, Maarten Pronk, Mark van Koningsveld, Sanne Muis
Introduction:
Global coastal flooding maps are now achieving a level of detail suitable for local applications. The resolution of these maps, derived from widely available open data sources, is approaching that of local flooding maps (0.5–100 m), increasing the need for a standardized approach to evaluate underlying assumptions and indicators for local applications.

Methods:
This study introduces the Waterlevel, Elevation, Protection, Flood, Impact, Future (WEPFIF) notation, a structured notation for documenting and comparing key methodological choices and data variations across global coastal flooding studies. This approach enhances the understanding and explanation of the fitness-for- purpose of flood maps. This notation builds on commonly used methodological choices, dataset variations, and model approaches in global flooding risk research. Analysis of these workflows identifies common elements and highlights the need for a more structured reporting approach to improve comparability.

Results:
Applying the WEPFIF notation to a case study in the Netherlands reveals significant variations in flood risk assessments originating from differences in Digital Elevation Model (DEM) and water level selection, and inclusion of protective infrastructure.

Discussion:
WEPFIF, by annotating these methodological variations, enables more informed comparisons between local and global flood studies. This allows researchers and practitioners to select appropriate data and models, based on their specific research objectives. The study proposes tailored approaches for three common types of flood studies: raising concern, optimizing flood protection investments, and representing the state of coastal risk. ...
PIANC Task Group 234 concludes that the “path to decarbonization of inland waterway transport is different for different corridors and in different countries”. This calls for an approach that can consider largescale differences as well as local influences when evaluating the emissions of inland vessels. This paper demonstrates the use of a so-called “event table” that allows corridor scale estimations of inland shipping emissions, while retaining the ability to identify the most important source mechanisms that produce these emissions. We considered three corridors in the Netherlands: Antwerp-Rotterdam, Antwerp-Duisburg and Rotterdam-Duisburg. Using the event table and four “pivoting perspectives”, we quantify large-scale emission patterns and investigate underlying mechanisms for these three corridors. Our study shows that despite their close vicinity, different mechanisms are responsible for observed emission peaks on these corridors. On the Antwerp-Rotterdam corridor, the most important contributions to emissions are slowly sailing vessels near the two locks that are on this route. It is furthermore shown that deeper fairway sections contribute to significantly lower emissions locally. On the Rotterdam-Duisburg corridor, we show that river currents significantly influence the emissions of vessels per travelled distance unit. The Antwerp-Duisburg corridor contains a combination of these factors.
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Abstract (2024) - Robert-Jan den Haan, Bouke Biemond, Fedor Baart
Salt intrusion is a growing problem in many deltas around the world. During periods with low river discharges, salinity upstream in a delta increases and affects freshwater availability, ecology, and other delta functions. For example, in the Rhine-Meuse estuary (the Netherlands), brackish water can reach drinking water intakes about 40 km from the estuary mouth during droughts. Salt intrusion is likely to become more severe in the context of climate change, as a result of sea level rise and a lower river discharge during droughts.
The challenges with salt intrusion for the Netherlands are addressed in the Salti Solutions research program. Within this program the Delta Management Game offers an interactive environment where policy-making stakeholders can experience salt intrusion management and experiment with adaptation and mitigation strategies in the Rhine-Meuse estuary. As a serious game, the goal is for players to “learn by taking actions and by experiencing their effects through feedback mechanisms that are deliberately built into and around the game” (Mayer, 2009, p. 825).
A particular design challenge for serious games is simplifying the environmental system and sufficiently representing the relevant physics, while offering exploratory and experimentation through (near-)instant, interactive feedback. The physical module for salt intrusion in the Delta Management Game should be able to deal with, among others, changes in bathymetry (e.g. depth or width of waterways, adding a sill) of the estuary in the game, while offering relatively quick feedback. ...
Journal article (2024) - Arash Sepehri, Alex Kirichek, Solange van der Werff, Fedor Baart, Marcel van den Heuvel, Mark van Koningsveld
Purpose: Maintenance dredging can often hinder port operations resulting in waiting times for seagoing vessels. The purpose of this paper is to investigate the dynamics between maintenance dredging activities and seagoing vessels, specifically focusing on how waiting times can be reduced. Then, the role of selecting different maintenance dredging strategies in reducing these waiting times is outlined. Methods: The study analyzes historical automatic identification system (AIS) data to identify the interaction between maintenance dredging and seagoing vessels and quantify the hindrance periods for the Mississippihaven case study in the Port of Rotterdam, the Netherlands. The trajectories of the vessels are analyzed in a simple case to show how the vessels interact and how the waiting times are quantified. The interactions are checked with the Port of Rotterdam for different port calls to ensure that maintenance dredging was the reason for these delays. Results: By analyzing the AIS data analysis of vessels in a given time window, the dredgers for maintenance work can be identified and their activities within or near the terminal can be determined. In addition, the waiting time of the seagoing vessel caused by the maintenance dredging is quantified at the terminal entrance. Conclusion: The study discusses how the maintenance dredging operations could be improved by adjusting the loading and sailing phases of maintenance dredging and provides some theoretical and managerial insights. Alternative port maintenance strategies to minimize the waiting time caused by the hindrance are also discussed. ...
The planning and construction of offshore wind parks reduces the margin for error of nearby shipping activities. During the last couple of years, several incidents on the North Sea have raised the attention for the risk of ship-ship and ship-infrastructure collisions. Although often not the primary cause, environmental conditions play an important role in these incidents, and prevention and intervention measures, like the placement of emergency response vessels, are often deployed considering metocean conditions. To improve the design of risk-reducing measures, we need to understand better how vessels behave under varying environmental conditions. It is important to gain insight into risk patterns at system scale while retaining the ability to explain how these patterns are linked to underlying mechanisms. For this purpose we propose creating a so-called ‘event’ table, that couples ship behaviour data from Automatic Identification System (AIS) data to environmental data. The structure of the ‘event’ table, whereby events are defined as vessels sailing within a specific section of the system, allows appending analysis results and other data sources to the events. We show how the ‘event’ table adds important new perspectives to the analysis of nautical safety at sea. ...
Reducing waiting times is crucial for ports to be efficient and competitive. Important causes of waiting times are cascading interactions between realistic hydrodynamics, accessibility policies, vessel-priority rules, and detailed berth availability. The main challenges are determining the cause of waiting and finding rational solutions to reduce waiting time. In this study, we focus on the role of the design depth of a channel on the waiting times. We quantify the performance of channel depth for a representative fleet rather than the common approach of a single normative design vessel. The study relies on a mesoscale agent-based discrete-event model that can take processed Automatic Identification System and hydrodynamic data as its main input. The presented method’s validity is assessed by hindcasting one year of observed anchorage area laytimes for a liquid bulk terminal in the Port of Rotterdam. The hindcast demonstrates that the method predicts the causes of 73.4% of the non-excessive laytimes of vessels, thereby correctly modelling 60.7% of the vessels-of-call. Following a recent deepening of the access channel, cascading waiting times due to tidal restrictions were found to be limited. Nonetheless, the importance of our approach is demonstrated by testing alternative maintained bed level designs, revealing the method’s potential to support rational decision-making in coastal zones. ...
The availability of supporting bunker infrastructure for zero-emission energy sources will be key to accommodate zero-emission inland waterway transport (IWT). However, it remains unclear which (mix of) zero-emission energy sources to prepare for, and how to plan the bunker infrastructure in relative positions and required capacity at corridor scale. To provide insight into the positioning and dimensions of bunkering infrastructure we propose a bottom-up energy consumption method combined with agent based network simulation. In the method, we first produce a two-way traffic energy consumption map, aggregated from the energy footprint of individual vessels on the transport network. Next we investigate the potential sailing range of the vessels on the network if they would sail the same routes, but with alternative energy carriers. Based on the sailing range of the vessels for different energy carriers, the maximum inter-distance between refuelling points can be estimated. By aggregating the energy consumptions of all the vessels on the network, we can estimate the required capacity of a given refuelling point. To demonstrate the basic functionality we implement the method to four representative corridor scale inland shipping examples using zero-emission energy sources including hydrogen, batteries, e-NH3, e-methanol and e-LNG. The application in this paper is limited to four abstract cases. A recommended next step is to apply this approach to a more realistic network. ...
Journal article (2023) - Bas J.M. Wullems, Claudia C. Brauer, Fedor Baart, Albrecht H. Weerts
Estuarine salt intrusion causes problems with freshwater availability in many deltas. Water managers require timely and accurate forecasts to be able to mitigate and adapt to salt intrusion. Data-driven models derived with machine learning are ideally suited for this, as they can mimic complex non-linear systems and are computationally efficient. We set up a long short-term memory (LSTM) model to forecast salt intrusion in the Rhine-Meuse delta, the Netherlands. Inputs for this model are chloride concentrations, water levels, discharges and wind speed, measured at nine locations. It forecasts daily minimum, mean and maximum chloride concentrations up to 7 d ahead at Krimpen aan den IJssel, an important location for freshwater provision. The model forecasts baseline concentrations and peak timing well but peak height is underestimated, a problem that becomes worse with increasing lead time. Between lead times of 1 and 7 d, forecast precision declines from 0.9 to 0.7 and forecast recall declines from 0.7 to 0.5 on average. Given these results, we aim to extend the model to other locations in the delta. We expect that a similar setup can work in other deltas, especially those with a similar or simpler channel network. ...
Journal article (2023) - Gerben de Boer, J.P. van Halem, M. van Koningsveld, F. Baart, Arie de Niet, Luke Moth, Frank Klein Schaarsberg, A. Sepehri
In the 2015 Paris agreement, countries committed to implementing measures to reduce greenhouse gas emissions to limit global warming. For the maritime industry specifically, the International Maritime Organization (IMO) has proposed measures for energy efficiency of vessels and candidate measures regarding fuel choice and speed optimisation. This article aims to contribute to the latter by showing how logistical simulations can be used to optimise fleet operations. We will illustrate this in the form of a conceptual case using one cutter and a range of barge fleets. Running simulations with all possible fleets, we will demonstrate the value of extra energy-based alternatives to challenge the fastest, cheapest and most flexible alternatives. ...

Integrating simulations with control loops of autonomous vessels on lab scale

Journal article (2023) - Fedor Baart, Max Willem van Gijn, Bart Boogmans, Migena Zagonjolli, Rob Zuidwijk, Rudy R. Negenborn, Mark van Koningsveld
This study integrates strategic decisions and operational control systems in autonomous shipping. By providing ships with situational information and adding a virtual operator, we show that vessels can make informed choices regarding their route and engine settings. To demonstrate this integration, we developed new components and put these to the test in three lab experiments. The green routing capability experiment showed the bridge between the control system of the autonomous vessel, operated via Robot Operating System (ROS), to the simulation environment of OpenCLSim. We developed a real-time variant of OpenCLSim and a communication component that could expose the state of the OpenCLSim simulation with the ROS system. This experiment showed that an autonomous vessel could follow a path provided by the simulation. The green steaming capability experiment showed that the ship could also adapt its speed based on information from the simulations. We developed an additional communication component capable of advising the vessel about its velocity. Together with the green-routing capability, this forms the basis for more complex experiments. The port layout experiment showed a potential use case of the green-routing and green-steaming capabilities. We created a waypoint layout similar to the port. While a ship is sailing, twelve simulations are computed every five seconds. The scenarios vary in engine order, route choices, resulting in varying emissions, fuel, and cost. We evaluated the impact of different tactics such as green-routing, green-steaming, and full-speed sailing on operational behavior like steering and engine order. Our approach, using a real-time version of a Vessel in the OpenCLSim simulation software, enabled predictive simulations to facilitate the chosen tactic based on a given strategy. Integrating simulations to evaluate the options with the control systems can develop into a valuable tool for optimizing vessel performance and reducing environmental impact in autonomous shipping operations. ...
Journal article (2023) - Vivian Juliette Cortes Arevalo, Robert Jan den Haan, Koen D. Berends, Fedor Baart, Mascha van der Voort, Suzanne J.M.H. Hulscher
Transdisciplinary research requires improved knowledge exchange between science and practice. Such improvements include diversifying and scaling up knowledge accessing and sharing through online platforms. We conducted twenty interviews informed by behavioral science methods to clarify the aim, components, and participants' perspectives on the usefulness of the proposed components for an envisioned platform. Participants were members of a Dutch community of practice for river studies and a research programme into integrated and collaborative management. The proposed concept included storylines, data repositories, user profiles, interactive visualisations, and collaborative sessions. Interview results include drivers and barriers from prospective users that we translated into requirements to increase the potential adoption and effective use of online platforms with similar components. From the experiences with implementing these requirements, we provide recommendations for enabling primary drivers: (i) Combining online and offline interactions to provide various options for knowledge exchange between disciplines and organisations. (ii) Sharing the content and application of the research with a non-scientific audience. (iii) Reusing existing online platforms as much as possible without restricting any to improve the reuse of research methods and results. We further provide recommendations to overcome the main barriers: (i) Partnering with various communities to extend knowledge exchange. (ii) Following a participatory approach to improve the design and content while considering the time and resources that such a process entails. (iii) Providing flexible options to contribute and tailor overviews of available knowledge in different ways according to prospective users' roles in practice. (iv) Purposefully facilitating online interactions according to the transdisciplinary process-intended attributes. ...

High-resolution surface water dynamics in Earth’s small and medium-sized reservoirs (Scientific Reports, (2022), 12, 1, (13776), 10.1038/s41598-022-17074-6)

Journal article (2022) - Gennadii Donchyts, Hessel Winsemius, Fedor Baart, Ruben Dahm, Jaap Schellekens, Noel Gorelick, Charles Iceland, Susanne Schmeier
The original version of this Article contained an error in the Data Availability section where “All new data and code generated in this research are available under the terms of Creative Commons BY 4.0 (for the data) and Apache 2.0 (for the code) licenses. Datasets and supplementary materials generated during this study are accessible from the TODO: upload and add Zenodo link here. The source code used to produce datasets is accessible from: https://github.com/global-water-watch/research-reservoir-water-dynamics. For more information about this research and to access the demo app visit: https://globalwaterwatch.earth.” now reads: “All new data and code generated in this research are available under the terms of Creative Commons BY 4.0 (for the data) and Apache 2.0 (for the code) licenses. Datasets and supplementary materials generated during this study are accessible from the supplementary materials document below. The source code used to produce datasets is accessible from: https://github.com/global-water-watch/research-reservoir-water-dynamics. For more information about this research and to access the demo app visit: https://globalwaterwatch.earth.” The original Article has been corrected. ...
Journal article (2022) - Gennadii Donchyts, Hessel Winsemius, Fedor Baart, Ruben Dahm, Jaap Schellekens, Noel Gorelick, Charles Iceland, Susanne Schmeier
Small and medium-sized reservoirs play an important role in water systems that need to cope with climate variability and various other man-made and natural challenges. Although reservoirs and dams are criticized for their negative social and environmental impacts by reducing natural flow variability and obstructing river connections, they are also recognized as important for social and economic development and climate change adaptation. Multiple studies map large dams and analyze the dynamics of water stored in the reservoirs behind these dams, but very few studies focus on small and medium-sized reservoirs on a global scale. In this research, we use multi-annual multi-sensor satellite data, combined with cloud analytics, to monitor the state of small (10–100 ha) to medium-sized (> 100 ha, excluding 479 large ones) artificial water reservoirs globally for the first time. These reservoirs are of crucial importance to the well-being of many societies, but regular monitoring records of their water dynamics are mostly missing. We combine the results of multiple studies to identify 71,208 small to medium-sized reservoirs, followed by reconstructing surface water area changes from satellite data using a novel method introduced in this study. The dataset is validated using 768 daily in-situ water level and storage measurements (r2 > 0.7 for 67% of the reservoirs used for the validation) demonstrating that the surface water area dynamics can be used as a proxy for water storage dynamics in many cases. Our analysis shows that for small reservoirs, the inter-annual and intra-annual variability is much higher than for medium-sized reservoirs worldwide. This implies that the communities reliant on small reservoirs are more vulnerable to climate extremes, both short-term (within seasons) and longer-term (across seasons). Our findings show that the long-term inter-annual and intra-annual changes in these reservoirs are not equally distributed geographically. Through several cases, we demonstrate that this technology can help monitor water scarcity conditions and emerging food insecurity, and facilitate transboundary cooperation. It has the potential to provide operational information on conditions in ungauged or upstream riparian countries that do not share such data with neighboring countries. This may help to create a more level playing field in water resource information globally. ...
The river Rhine is one of Europe’s busiest waterways and is part of the Rhine-Alpine corridor. In 2018 the river experienced a severe low discharge extreme. This impacted the river’s transport capacity for a period of several months, causing shortages of source materials and fuels in regions far in-land. Historically, prolonged droughts of this magnitude are not uncommon. Concerns have been raised, however, that climate change may further increase their frequency and severity. Additionally the increased proportion of larger vessels in the overall fleet composition has made the supply of cargo via the river Rhine more vulnerable to reduced water depths. A better understanding of the risks and effects of sustained low water levels for Inland Waterway Transport network performance is therefore essential to enable sensible mitigation. An integral model that explicitly links the state of the river to supply chain performance at the scale of corridors, however, appears to be not yet available. This paper suggests a novel method to explicitly include the cascading effects of low discharge events (and mitigating measures) in climate risk assessments of waterborne supply chain performance, at system level. It is shown that its implementation can describe cascading effects and climate risks for fleet management and terminal operation. ...
Conference paper (2022) - Vitali Diaz, Haicheng Liu, Peter van Oosterom, Martijn Meijers, Edward Verbree, Fedor Baart, Maarten Pronk, Thijs van Lankveld
Point cloud is made up of a multitude of three-dimensional (3D) points with one or more attributes attached. Point cloud is the third data paradigm in addition to the well-established object (vector) and gridded (raster) representations, since point cloud data can be directly collected, computed, stored, and analyzed without converting to other types. Modern ways of data acquisition, including laser scanning from airborne, mobile, or static platforms, multi-beam echo-sounding, and dense image matching from photos, generate millions to trillions of 3D points with attached attributes. If the collection is carried out in different periods, one of the essential attributes is precisely time, allowing spatiotemporal analysis to be performed. Its use is widespread in some fields such as metrology and quality inspection, virtual reality, indoor/outdoor navigation, object detection, vegetation monitoring, building modeling, cultural heritage, and diverse visualization applications. There are some examples in fields related to hydroinformatics, mainly related to terrain modeling. Due to its nature of big data, over the past decades, a series of developments have been carried out in the different processing chains for the optimal use of point cloud. This research seeks to introduce the various point cloud developments from which the hydroinformatics community and research could benefit. A review of recent advances is made, mainly including the analysis and visualization of point cloud for dealing with water-related problems. Potential areas of application and development in hydroinformatics are identified. These include, for example, the topics of coastal monitoring, coastal erosion, shallow water assessment, ice sheet change analysis, sea-level rise assessment, monitoring of levels in water bodies, crop and vegetation monitoring, analysis of the effects of groundwater depletion, detail tracing of basins and channels, analysis of floods with detailed terrain models, and drought monitoring in crops and forests. The challenges to overcome and ongoing developments regarding point cloud application in hydroinformatics are also discussed. ...
Journal article (2021) - Floris Calkoen, Arjen Luijendijk, Cristian Rodriguez Rivero, Etienne Kras, Fedor Baart
Forecasting shoreline evolution for sandy coasts is important for sustainable coastal management, given the present-day increasing anthropogenic pressures and a changing future climate. Here, we evaluate eight different time-series forecasting methods for predicting future shorelines derived from historic satellite-derived shorelines. Analyzing more than 37,000 transects around the globe, we find that traditional forecast methods altogether with some of the evaluated probabilistic Machine Learning (ML) time-series forecast algorithms, outperform Ordinary Least Squares (OLS) predictions for the majority of the sites. When forecasting seven years ahead, we find that these algorithms generate better predictions than OLS for 54% of the transect sites, producing forecasts with, on average, 29% smaller Mean Squared Error (MSE). Importantly, this advantage is shown to exist over all considered forecast horizons, i.e., from 1 up to 11 years. Although the ML algorithms do not produce significantly better predictions than traditional time-series forecast methods, some proved to be significantly more efficient in terms of computation time. We further provide insight in how these ML algorithms can be improved so that they can be expected to outperform not only OLS regression, but also the traditional time-series forecast methods. These forecasting algorithms can be used by coastal engineers, managers, and scientists to generate future shoreline prediction at a global level and derive conclusions thereof. ...