• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.12
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• pp.1213-1220
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• 2015

A deep seabed integrated mining system consists of a mining vessel, a lifting pipe, a buffer station, a flexible pipe, and a mining robot for collecting manganese nodules. Recently, the concept of multiple mining robots was introduced to enhance to mining productivity. In this paper, the subsystem synthesis method was applied to the deep seabed integrated mining system in order to improve the efficiency of system analysis and to facilitate its extension to the system of multiple mining robots. Large deflections of the lifting and flexible pipe were considered by dividing a flexible pipe into several substructures, and applying flexible multibody dynamics to each substructure. Theoretical study has been carried out for the efficiency of the subsystem synthesis method for the integrated mining system, by comparing the arithmetic operational counts of the subsystem synthesis method with those of the conventional method.

• Journal of Navigation and Port Research
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• v.34 no.3
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• pp.195-203
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• 2010

This paper concerns about total dynamic analysis of integrated mining system. This system consists of vertical steel pipe, intermediate buffer station, flexible pipe and self-propelled miner. The self-propelled miner and buffer are assumed as rigid-body of 6-dof. Discrete models of vertical steel pipe and flexible pipe are adopted, which are obtained by means of lumped-parameter method. The motion of mining vessel is not considered. Instead, the motion of mining vessel is taken into account in form of various boundary conditions (e.g. forced excitation in slow motion and/or fast oscillation and so on). A terramechanics model of extremely cohesive soft soil is applied to the self-propelled miner. Hinged and ball constraints are used to define the connections between sub-systems (vertical steel pipe, buffer, flexible pipe, self-propelled miner). Equations of motion of the coupled model are derived with respect to the each local coordinates system. Four Euler parameters are used to express the orientations of the sub-systems. To solve the equations of motion of the total dynamic model, an incremental-iterative formulation is employed. Newmark-${\beta}$ method is used for time-domain integration. The total dynamic responses of integrated mining system are investigated.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.7
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• pp.663-670
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• 2016

This paper introduces the concept of the computer-aided engineering(CAE) design method for a bypass valve in a system that is used for the safe lifting of mineral resources in deep-seabed mining. Although the bypass valve has a simple mechanism, its design is very difficult because of various influencing factors. This equipment, which has a complex design process, should be developed by CAE-based design method. The method can perform the design, design verification, and virtual experiment at the same time. In this study, the CAE-based method for the design of the bypass valve has been developed using fluid dynamics, multi-body dynamics, and optimization method.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.315-318
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• 2006

This paper concerns about coupled dynamic analysis of the deep-seabed mining system in launching operation. The dynamic behavior of mining system consisting of lifting pipe, buffer station, flexible conduit and self-propelled miner is simulated in time domain. The launching operation is divided into four critical phases: (1) deployment of miner and flexible conduit, (2) deployment of lifting pipe, flexible conduit and miner, (3) touch-down of miner, (4) final launching. The dynamic responses of sub-systems - miner, flexible conduit, buffer and lifting pipe - are analyzed in each launching phase. According to the changing periods of forced excitation at the top, the dynamic responses of sub-systems are diverse in their characteristics. It has been shown that the total integrated responses of sub-systems are strongly affected by the design parameters. Especially, the principal dimensions of flexible conduit seem to be significant in determining of the global response. Based on the simulation results, safe operation conditions are investigated.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.311-314
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• 2006

This paper concerns about total dynamic analysis of integrated mining system. This system consists of vertical steel pipe, intermediate buffer station, flexible pipe and self-propelled miner. The self-propelled miner and buffer are assumed as rigid-body of 6-dof. Discrete models of vertical steel pipe and flexible pipe are adopted, which are obtained by means of lumped-parameter method. The motion of mining vessel is not considered. Instead, the motion of mining vessel is taken into account in form of various boundary conditions (e.g. forced excitation in slow motion and/or fast oscillation and so on). A terramechanics model of extremely soft cohesive soil is applied to the self-propelled miner. The hydrodynamic forces and moments are included in the dynamic models of vehicle and lifting pipe system. Hinged and fixed constraints are used to define the connections between sub-systems (vertical steel pipe, buffer, flexible pipe, miner). Equations of motion of the coupled model are derived with respect to the each local coordinates system. Four Euler parameters are used to express the orientations of the sub-systems. To solve the equations of motion of the total dynamic model, an incremental-iterative formulation is employed. Newmark-b method is used for time-domain integration. The total dynamic responses of integrated mining system are investigated.

• Journal of Ocean Engineering and Technology
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• v.29 no.2
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• pp.120-127
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• 2015

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 must 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.