• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.149-154
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• 2002

A simplified 3D dynamic model of tracked vehicle crawling on cohesive soft soil is investigated. The vehicle is assumed as rigid body with 6-dof. Cohesive soft soil is modeled through relations: pressure to sinkage, shear displacement to shear stress, and shear to dynamic sinkage. Equations of motion of vehicle are derived with respect to the body-fixed coordinates. In order to investigate 3D transient dynamics of tracked vehicle, Newmark's method is employed based on incremental-iterative algorithm. 3D dynamic simulations are conducted for a tracked vehicle model and steering performance is investigated.

• Proceedings of the Korean Geotechical Society Conference
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• 2000.03b
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• pp.58-76
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• 2000

An analytical solution method capable of determining the geometric configuration and developed tensile forces of mooring lines associated with fixed plate/pile or drag anchors is presented. The solution method, satisfying complete equilibrium conditions, is capable of analyzing multi-segmented mooring lines that can consist of either chains, cables, or wires embedded in layered seafloor soils. Centrifuge model tests and full -scale field tests were used to calibrate and validate the analytical solution.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.224-228
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• 2002

To study the trafficability on soft and cohesive benthic terrain, a soil bin is designed and constructed. The information of shear strength of pacific seafloor and the results of dimensional analysis of vehicle-train system are used as basic datum for concept design of soil bin. Cohesive benthic terrain is modeled by means of bentonite-water mixture. The shear strength of the mixture is measured by motorized shear meter. Several facilities are constructed for mixing and evening modeled soil, transporting vehicle model. The shear strength in soil bin is investigated for depth, age and velocity. The result of this study is used as basic information to the experiment, study for development of crawler on benthic terrain.

• Journal of the Korean Geotechnical Society
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• v.22 no.3
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• pp.37-43
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• 2006

An analytical solution method capable of determining the geometric configuration and developed tensile forces of mooring lines associated with fixed plate/pile or drag anchors has been developed. The solution method, satisfying complete equilibrium conditions, is capable of analyzing multi-segmented mooring lines that can consist of either chains, cables, or synthetic wires embedded in layered seafloor soils. The solution method utilizes a systematic iterative search method based on specific boundary conditions. This paper describes the principles associated with the development of the solution for the mooring line analysis. Comparisons of predictions with results from a series of field tests of mooring lines on various types of drag anchors are also described. Comparisons include the tension in anchor, the length of mooring line on the bottom, and the angle of mooring line at the water surface buoy. The results indicate that the analytical solution method is capable of predicting the behavior of mooring lines with high degree of accuracy.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.10a
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• pp.250-253
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• 2003

This paper concerns about an experimental investigation about steering performance of tracked vehicle on extremely soft soil based on DOE(Design Of Experiment) using L8 orthogonal Array. A tracked vehicle model with principal dimensions of $0.9m{\times}0.8m{\times}0.4m$ and weight 167kg was constructed with a pair of driving chain links driven by two AC-servo motors. The tracks are configured with detachable grousers, the span of which can be varied. Deep seabed was simulated by means of bentonite-water mixture in a soil bin of $6.0m{\times}3.7m{\times}0.7m$. Turning radii of vehicle and torques of motors were measured with respect to experimental variables; steering ratio, driving speed, grouser chevron angle, grouser span, grouser height. The effects of experiment variables on steering performance are evaluated.