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*** 한국해양과학기술원 부설 선박해양플랜트연구소 해양플랜트산업기술센터 ABSTRACT: This paper reports a simulation-based design method for the optimized arrangement design of buoyancy modules in a marine riser system. A buoyancy module is used for the safe operation and structural stability of the riser. Engineers design buoyancy modules based on experience and experimental data. However, they are difficult to design because of the difficulty of conducting real sea experiments and quantifying the data. Therefore, a simulation-based design method is needed to tackle this problem. In this study, we developed a simulation-based design algorithm using a multi-body dynamic simulation and genetic algorithm to perform optimization arrangement design of a buoyancy module. The design results are discussed in this paper.

This paper presents an effective damage detection method using a meta model. A meta model is an approximation model that uses the relations between the design and response variables. It eliminates the need for repetitive analyses of computationally expensive models during the optimization process. In this study, a response surface model was employed as the meta model. The surface model was estimated using the correlation of the stiffness and natural frequencies of the structures. The locations and values of the damages were identified using a meta model-based damage detection method. Two numerical examples (a cantilever beam and jacket structure) were considered to verify the performance of the proposed method. As a result, the damages to the structures were accurately detected.

When a deep-seabed lifting pump is kept this device has bending and deformation in the axis due to its long length(8m). These influences can be caused a breakdown. Therefore, a mounting mus t be developed to keep the lifting pump safe. This paper discusses the hydraulic cylinder design of the lifting pump and structural safety estimation of the mounting using SBD(simulation-based design). The multi-body dynamic simulation method is used, which has been used in the automotive, structural, ship building, and robotics industries. In this study, the position and diameter of the hydraulic cylinder were determined based on the results of the strokes and buckling loads for the design positions of the hydraulic cylinder. A structural dynamic model of the mounting system was constructed using the determined design values, and the structural safety was evaluated using this dynamic model. According to these results, this system has a sufficient safety factor to manufacture.

KRISO(Korea Research Institute of Ships & Ocean Engineering) designed and manufactured a pilot mining robot called "MineRo" in 2012. MineRo is composed of four track modules. In general, much time and money are needed for deep-sea tests. Therefore, a numerical analysis to predict the dynamic behaviors has to be performed before a deep-sea test. In the numerical analysis, the information about the mining robot and soil properties are the most important factors to analyze the driving performance and dynamic response of MineRo. A terra-mechanics model of extremely cohesive soft soil is implemented in the form of the relationships between the normal pressure and sinkage, and between the shear stress and shear displacement. It is possible to acquire information about MineRo from the CAD model in the design phase. The Wong model is applied to the terra-mechanics model. This model is necessary to acquire many soil coefficients for a numerical analysis. However, in soil testing, the amount of soil property data obtained is limited. Moreover, it is difficult to analyze all of the cases for the many soil coefficients. In this paper, the dynamic behaviors of MineRo are analyzed according to the driving velocity, steering ratio, and variable extremely cohesive soft soil properties using a table of orthogonal arrays. The dynamic responses of MineRo are the turning radius, sinkage, and slip ratio. The relationships between the dynamic responses and variable soil properties are derived for MineRo.

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- 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.

KIOST developed a deep-sea mining robot called "MineRo" to collect manganese nodules in 2007. MineRo operates on flat ground. SMS (seafloor massive sulfide) deposits are shaped like undulating mountains. This paper deals with a numerical analysis model of a mining robot for SMS deposits. The mining robot consists of a tracked vehicle, chassis structure with a turntable, boom arm with 2 articulations, excavation tool, discharging unit, hydro-electric system, and sensing-and-monitoring system. In order to compare and analyze the dynamic responses of the driving mechanism, various tracked vehicles are modeled using commercial software. Straight driving simulations are conducted under undulating ground conditions. A conceptual design of a mining robot with four track systems for SMS deposits is modeled on the basis of these results.

In this study, a damage detection method that uses sensitivity-based finite (FE) element model updating with the natural frequency and zero frequency was proposed. The stiffness matrix for a structure was modified using the sensitivity-based FE model updating method. A sensitivity analysis was used to update the FE model, and the natural frequencies and zero frequencies were considered as target parameters to supplement the information on the vibration characteristics. The locations and values of the damages were estimated from the modified stiffness matrix. Several numerical examples were considered to verify the performance of the proposed method.

*Ocean System Engineering Research Division, Maritime and Ocean Engineering Research Institute, Korea Institute of Ocean Science and Technology, Daejeon, KoreaKEY WORDS: Nonproportional damping matrix 비비례 감쇠행렬, Identification of damping matrices 감쇠행렬 추정, FE model updating 유한요소 모델 개선, Zero frequency 제로주파수ABSTRACT: A new identification method for a nonproportional damping matri x using the finite element (FE) model updating technique is proposed. Mass and stiffness matrices of the undamped system ar e identified by FE model updating method. Sensitivity analysis is used to update the FE model, and zero frequencies are considered as design par ameters to supplement the information of vibration characterist ics. The nonproportional damping matrix is identified through the propos ed method. A numerical example is considered to verify the performance of the proposed method. As a result, the damping matrix of the nonprop ortional system is estimated accurately.교신저자 민천홍: 대전광역시 유성구 신성동 신성남로 65-12, 042-866-3886, min80123@kiost.ac 본 연구는 20012년 6월 개최된 한국해양과학기술협의회 공동학술대회에 발표된 논문을 근간으로 하고 있음을 밝힙니다 .

A deep-sea manganese nodule miner consists of 4 parts: the pickup device, crusher, disposal device, and tracked vehicle. The tracked vehicle is an essential component to keep the self-propelled miner moving across deep-sea soil. The performances of the tracked vehicle are influenced by noise factors: the shear strength of the seafloor, bottom current, seafloor slope, track speed, reaction forces of flexible hose, etc. It is necessary to adopt a robust design method that improves the performances and minimizes the variation caused by noise factors. Taguchi`s method, the most widely known robust design method, searches for the robust optimum using an orthogonal array composed of the product of the inner array and outer array. In this paper, we propose a new screening technique to reduce the number of input factors and apply the MRSN (Multi-Response Signal to Noise) ratio to convert multiple performances into single one in order to overcome the difficulties and limitations of using Taguchi`s method in a case with many input factors and multiple performances. A test miner was already designed and tested. It has about 1/10 the capacity of a commercial one and was successfully operated at an in-shore area. Taguchi`s robust design was applied to the tracked vehicle of the test miner, and design improvements were implemented for the vehicle.