• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 추계학술대회 논문집
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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.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2000년도 봄 학술발표회 논문집
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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.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 추계학술대회 논문집
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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.

• 한국지반공학회논문집
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• 제22권3호
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• pp.37-43
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• 2006

이 연구는 선박을 정착하기 위하여, 해성점토에 관입된 앵커 및 닻줄의 변형, 인장력 및 지반거동을 해석할 수 있는 방법에 대한 연구로써, 앵커와 닻줄을 multi-segment로 나누어, 일차원 유한 요소 해석을 하였다. 각 element와 지반거동에 대한 힘과 모멘트의 평형조건을 만족시키면서, 앵커와 닻줄의 변형과 인장력을 해석하는 방법으로, 앵커 및 선박 상판에서 구할 수 있는 특정경계조건을 구한 후, 지속적인 반복작업을 이용하여 각 element의 변형과 인장력을 구하는 방법을 채택하였다. 이러한 연구결과는 앵커 및 닻줄이 사용된 해양구조물의 설계 및 시공에 반영될 수 있으며, 이 연구의 예측결과는 실제 현장 건ta와 비교 분석되었으며, 비교를 위한 항목으로는 anchor의 지지력, 닻줄길이, 선박에 연결된 닻줄의 각도 및 인장력 등이 사용되었다. 각 항목의 비교결과, 실제 현장 data와 상당히 일치하여, 이 방법으로 지반 및 선체의 거동을 예측할 수 있다는 것이 증명되었다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 추계학술대회 논문집
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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.