• Journal of Ocean Engineering and Technology
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• v.29 no.6
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• pp.470-474
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• 2015

The demand for subsea cables and pipelines that transfer marine energy resources onshore has recently increased. Laying these underground after trenching is one engineering method to stabilize exposed subsea cables and pipelines. This experimental study found the optimum conditions for operating two types of waterjet arms mounted on an ROV trencher. A waterjet arm for trenching the seabed was scaled down at a ratio of 1:6, and a comparative analysis was conducted using diverse parameters. The results of this research provide a practical fundamental database to assist in making decisions about the ROV trencher performance in advance.

• Journal of Drive and Control
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• v.18 no.2
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• pp.20-31
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• 2021

An excavator is a construction machine that can perform various tasks such as trenching, piping, excavating, slope cutting, grading, and rock demolishing. In the 2010s, unmanned construction equipment using ICT technology was continuously developed. In this paper, the path design process was studied to implement the output data of the decision stage, and the path design algorithm was developed. For example, the output data of the decision stage were terrain data around the excavator, excavator mechanism information, excavator hydraulic information, the position and posture of the bucket at key points, the speed of the desired bucket path, and the required excavation volume. The result of the path design was the movement of the hydraulic cylinder, boom arm, bucket, and bucket edge. The core functions of the path design algorithm are the function of avoiding impact during the excavation process, the function to calculate the excavation depth that satisfies the required excavation volume, and the function that allows the bucket to pass through the main points of the excavation process while maintaining the speed of the desired path. In particular, in the process of developing the last function, the node tracking method expressed in the path design table was newly developed. The path design algorithm was verified as this path design satisfied the JCMAS H02 requirement.

• Magazine of the Korean Society of Agricultural Engineers
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• v.35 no.4
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• pp.55-66
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• 1993

Upon freezing a soil swells due to phase change and its compression stress increase a lot. As the soil undergo thawing, however, it becomes a soft soil layer because the 'soil changes from a solid state to a plastic state. These changes are largely dependent on freezing temperature and repeated freezing-thawing cycle as well as the density of the soil and applied loading condition. This study was initiated to describe the effect of the freezing temperature and repeated freezing-thawing cycle on the unconfined compressive strength. Soil samples were collected at about 20 sites where soil structures were installed in Kangwon provincial area and necessary laboratory tests were conducted. The results could be used to help manage effectively the field structures and can be used as a basic data for designing and constructing new projects in the future. The results were as follows ; 1. Unconfined compressive strength decreased as the number of freezing and thawing cycle went up. But the strength increased as compression speed, water content and temperature decreased. The largest effect on the strength was observed at the first freezing and thawing cycle. 2. Compression strain went up with the increase of deformation speed, and was largely influenced by the number of the freezing-thawing cycle. 3. Secant modulus was responded sensitivefy to the material of the loading plates, increased with decrease of temperature down to - -10$^{\circ}$C, but was nearly constant below the temperature. Thixotropic ratio characteristic became large as compression strain got smaller and was significantly larger in the controlled soil than in the soil treated with freezing and thawing processes 4. Vertical compression strength of ice crystal(development direction) was 3 to 4 times larger than that of perpendicular to the crystal. The vertical compression strength was agreed well with Clausius-Clapeyrons equation when temperature were between 0 to 5C$^{\circ}$, but the strength below - 5$^{\circ}$C were different from the equation and showed a strong dependency on temperature and deformation speed. When the skew was less then 20 degrees, the vertical compression strength was gradually decreased but when the skew was higher than that, the strength became nearly constant. Almost all samples showed ductile failure. As considered above, strength reduction of the soil due to cyclic freezing-thawing prosses must be considered when trenching and cutting the soil to construct soil structures if the soil is likely subject to the processes. Especially, if a soil no freezing-thawing history, cares for the strength reduction must be given before any design or construction works begin. It is suggested that special design and construction techniques for the strength reduction be developed.