• Ocean and Polar Research
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• v.32 no.4
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• pp.361-367
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• 2010

The principal objective of this paper was to evaluate the steering characteristics of a tandem tracked vehicle, each side of which features two tandem tracks, when crawling on extremely cohesive soft soil. The tandem tracked vehicle is assumed to be a rigid-body with 6-dof. The dynamic analysis program of the tandem tracked vehicle was developed via Newmark's method and the incremental-iterative method. A terra-mechanics model of extremely cohesive soft soil was implemented according to the relationships of normal pressure to sinkage, of shear resistance to shear displacement, and of dynamic sinkage to shear displacement. In order to simplify the characteristics of contact interaction between track segments and cohesive soft soil, the characteristics of soil are equated to the properties of intact soil. In an effort to evaluate the steering characteristics of a tandem tracked vehicle crawling on extremely cohesive soft soil, a series of dynamic simulations were conducted for a tandem tracked vehicle model with respect to the front and rear steering angle, the steering ratio, and the initial velocity.

• Journal of Ocean Engineering and Technology
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• v.21 no.1 s.74
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• pp.69-74
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• 2007

This paper is concerned about the dynamic analysis of an underwater test miner, which operates on cohesive soil. The test miner consists of tracked vehicles and a pick-up device. The motion of the pick-up device, relative to the vehicle chassis, is controlled by two pairs of hydraulic cylinders. The test miner is modeled by means of commercial software. A terramechanics model of cohesive soft soil is implemented with the software and applied to a dynamic analysis of the test miner model. The dynamic responses of the test miner are studied with respect to four different types of terrain conditions.

• Ocean and Polar Research
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• v.26 no.2
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• pp.323-332
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• 2004

This paper concerns about a study on dynamic responses of tracked vehicle on soft cohesive soil. For dynamic analyses of tracked vehicle, two different models were adopted, i.e. a single-body model and a multi-body model. The single-body vehicle model was assumed as a rigid body with 6-dof. The multi-body vehicle was modeled by using a commercial software, RecurDyn-LM. For the both models properties of cohesive soft soil were modeled by means of three relationships: pressure to sinkage, shear displacement to shear stress, and shear displacement to dynamic sinkage. Traveling performances of the two tracked vehicle models were compared through dynamic analyses in time domain.

• Journal of Ocean Engineering and Technology
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• v.27 no.6
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• pp.81-89
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• 2013

This paper considers the steering characteristics of a four-row tracked vehicle crawling on extremely cohesive soft soil, where each side is composed of two parallel tracks. The four-row tracked vehicle (FRTV) is assumed to be a rigid body with 6-DOF. A dynamic analysis program for the tracked vehicle is developed using the Newmark-${\beta}$ method based on an incremental-iterative scheme. A terra-mechanics model of an extremely cohesive soft soil is implemented in the form of the relationships of the normal pressure to the sinkage, the shear resistance to the shear displacement, and the dynamic sinkage to the shear displacement. In order to investigate the steering characteristics of the four-row tracked vehicle, a series of dynamic simulations is conducted with respect to the distance between the left and right tracks (pitch), steering ratios, driving velocity, reference track velocity, lengths of the tracks, and properties of the cohesive soft soil. Through these numerical simulations, the possibility of using a kinematic steering ratio is explored.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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• pp.277-282
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• 2004

This paper concerns about dynamic analysis of an underwater test miner, which operates on cohesive soil. The test miner consists of tracked vehicle and pick-up. device. The motion oj pick-up device relative to the vehicle chassis is controlled by two pairs of hydraulic cylinders. The test miner is modeled by means of a commercial software. A terramechanics model of cohesive soft soil is implemented to the software and applied to dynamic analysis of the test miner model. The dynamic responses of test miner are studied with respect to of four different types of terrain conditions.

• 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.

• 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.

• Ocean and Polar Research
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• v.36 no.4
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• pp.495-503
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• 2014

This paper focuses on the dynamic responses of a tracked vehicle crawling on extremely cohesive soft soil, each side of which is composed of two parallel tracks. The tracked vehicle consisted of 2 bodies. One body is the tracked vehicle body, which is assumed to be a rigid body with 6 DOFs. The other body is the buoy body. The two bodies are connected by a revolute joint. In order to evaluate the travelling performance of a 7 DOFs vehicle, a dynamic analysis program for the tracked vehicle was developed using Newmark's method and the incremental-iterative method. The effects of road wheels on the track and soil are not taken into account. A terra-mechanics model of extremely cohesive soft soil is implemented in form of relationships: normal pressure to sinkage, shear resistance to shear displacement, and dynamic sinkage to shear displacement. Pressure-sinkage relationship and shear displacement-stress relationship should represent the non-linear characteristics of extremely soft soil. Especially, since the shear resistance of soft soil is very sensitive to shear displacement, spatial distribution of shear displacement occurring at the contact area of the tracks should be calculated precisely. The proposed program is developed in FORTRAN.

• Journal of the Korea institute for structural maintenance and inspection
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• v.6 no.3
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• pp.211-220
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• 2002

CGS(Compaction Grouting System) is widely used in reinforcement of structural foundation and ground improvement in soft ground. But the effects of ground improvement depending on the type of soil must be studied in order to adopt in various soils (granular soil and cohesive soil). In this study, characteristics of ground improvement (the increase of N value, increase in unit weight, vertical displacement on the ground surface) by CGS method was compared through two cases that were performed in granular and cohesive soil. The results show that the closer to the grout hole, the more increase in N value and this trend appear distinctly in granular soil. Unit weight of ground increase largely near by the grout hole and decrease in far from it independently of the soil type. The vertical displacement on the ground surface appeared in smaller area in case of granular soil than cohesive soil.

• Geomechanics and Engineering
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• v.10 no.6
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• pp.793-806
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• 2016

The pozzolanic characteristics of a sludge incinerated into ash were determined in this study. Lime is commonly used as a stabilizer for the treatment of soils, whereas sewage sludge ash (SSA) is often applied with lime to improve soft subgrade soil. In this study, a cohesive soil categorized as A-4 (low-plasticity clay) by AASHTO classifications was mixed with SSA/lime with a 3:1 ratio. Nano-$SiO_2$ was also added to the soil. To identify changes in the workability, strength, permeability, and shear strength of the soft subgrade soil, basic soil tests were conducted, and the microstructure of the treated soil was analyzed. The results indicate that SSA/lime mixtures improve the properties of soft subgrade soil and transform the soil from "poor subgrade soil" to "good to excellent subgrade soil" with a CBR > 8. Additionally, the addition of 2% nano-$SiO_2$ increases the unconfined compressive strength of soft subgrade soil treated with SSA/lime mixture by approximately 17 kPa. However, the swelling of the treated soil increased by approximately 0.1% after the addition of nano-$SiO_2$ and lime. Thus, soil swelling should be considered before lime and nano-$SiO_2$ are applied to soft subgrade soil.