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Dynamic Analysis of Underwater Tracked Vehicle on Extremely Soft Soil by Using Euler Parameters  

Kim, Hyung-Woo (Maritime and Ocean Engineering Research Institute, KORDI)
Hong, Sup (Maritime and Ocean Engineering Research Institute, KORDI)
Choi, Jong-Su (Maritime and Ocean Engineering Research Institute, KORDI)
Yeu, Tae-Kyeong (Maritime and Ocean Engineering Research Institute, KORDI)
Publication Information
Journal of Ocean Engineering and Technology / v.20, no.6, 2006 , pp. 93-100 More about this Journal
Abstract
This paper is concerned with the dynamic analysis of an underwater tracked vehicle, operating on extremely soft soil of the deep-seafloor. The vehicle is assumed as a rigid-body with 6-dof. The orientation of the vehicle is defined by four Euler parameters. To solve the motion equations of the vehicle, the Newmark numerical integrator is used in the incremental-iterative algorithm. The normalization constraint of Euler parameters is satisfied by using of a sequential updating method. The hydrodynamic force and moment are included in the tracked vehicle's dynamics. The hydrodynamic effects on the performance of tracked vehicles are investigated through numerical simulations.
Keywords
Dynamic analysis; Tracked vehicle; Extremely soft soil; Euler parameters; Hydrodynamics force;
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