• Journal of Ocean Engineering and Technology
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• v.26 no.1
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• pp.41-46
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• 2012

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.

• Ocean and Polar Research
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• v.32 no.4
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• pp.463-473
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• 2010

Inshore tests were performed in order to verify the design concept of deep sea manganese nodule miner at a site near Hupo at East Sea of Korea in June of 2009. Total mining tests of the test miner, named 'Minero$^{(R)}$', together with flexible hose, lifting pump and lifting hose were accomplished. In this study, the performances of three subsystems of testminer (vehicle, pick-up device, and launch-and-recovery device) were analyzed for feasibility assessment of self-propelled remotely controlled miner, and also to compile basic data for designing a pilotminer. Performances of the test miner were defined based on the Functional Requirements of Axiomatic Design. The inshore tests revealed that the test miner generally satisfies the functional performances. Feasibility assessment and reflection on results are discussed within.

• Journal of Ocean Engineering and Technology
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• v.23 no.6
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• pp.32-38
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• 2009

An FMEA for the waterjet-lifter of a DSNM is performed to prevent the occurrence of device failure. A waterjet-lifter raises and transports manganese nodules from the deep-sea floor up to a somewhat elevated place, from which a pin-scraper transports the lifted nodules to the inner space of the DSNM. A concept design for a device using the axiomatic design methodology is shown as the mapping between the functional domain and physical domain. The FMEA for a DSNM is introduced briefly and the rating criteria of severity, occurrence, and detection for the DSNM are defined. The FMEA of the functional requirements of a DSNM device is accomplished. Three kinds of failure modes, as well as their effects and causes, are predicted. Current design control methods for detecting potential failures, such as physical or computational experiments, design confirmation, and mathematical calculation, are described and the recommended actions for several significant causes are suggested.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.246-251
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• 2008

The conceptual design evaluation of Deep-Sea Manganese Nodule Miner(DSNM) based on Axiomatic Design was preformed. Functional Requirements(FRs) in functional domain and Design Parameters(DPs) in physical domain were embodied for the given concept design of DSNM. Interactions between FRs and DPs were sequentially analyzed from the first level hierarchy to the lower level hierarchy. The interactions were expressed as design matrices which showed the dependence or independence between FRs and DPs. The results showed that the design of DSNM was not a coupled one, but a decoupled. Finally, it was conceptually verified that DSNM was a good design satisfying the independence axiom of the Axiomatic Design.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2001.10a
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• pp.160-163
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• 2001

In order to develop a nodule conveying system through a flexible pipe out of the deep-seabed manganese nodule miner, an experimental study of the solid-water slurry flow in vertical pipe is performed as the first stage of total experiments. Hydraulic characteristics of the pipe slurry flow such as slip velocity, transport concentration and pressure gradient are investigated for the size of particle, load ratio, and flow rate of water. The higher the load ratio is, the larger the transport concentration and pressure gradient become. The bigger the size of particles is, the larger the pressure gradient becomes. The effectiveness of the flow rate to hydraulic performance is also investigated. This results are to be used for designing crusher and pump, and operating the conveying device.

• Ocean and Polar Research
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• v.25 no.4
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• pp.529-543
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• 2003

Deep-sea surface sediments, acquired from 1997 to 2002 in the Clarion-Clipperton fracture zone of the northeast equatorial Pacific, were analyzed for index and geotechnical properties to provide background information for the design of manganese nodule minor. The sediments were classified into 16 types based on the measured properties and evaluated in terms of miner maneuverabillity and potential environmental impacts arising from mining activities. It was found that the middle part of the study area covered with coarse siliceous sediments is more favorable to the commercial production than the northern part of pelagic red clay. In particular, Area B2 in the middle part is considered the best mining site since it shows the highest abundance as well as it consists mostly of normally to over consolidated (types B, C, D) coarse siliceous sediments that are appropriate for effective minor movement and accompany weak environmental impacts. Taking account of all the analyzed core logs, the average shear-strength values are proposed as a practical guideline fur movements of a manganese nodule miner: 6.0 kPa at 10cm and 7.0kPa at 40cm below the seabed.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.229-236
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• 2008

The deep-sea miner is the tracked vehicle system which drives on the deep-seabed and gathers a manganese nodules. The miner is operated by remote control in real-time by the station of surface vessel. So operating S/W is a important part of miner remote operating. At present, the test miner has been designed and manufactured for near-shore sea-test. The test miner consists of mechanical parts, and electric-electronic parts. Because those parts should be controled and monitored remotely, operating S/W for control and monitoring is necessary by all means. In this paper, real-time operating S/W for a control and monitoring of the test miner was designed and developed using PXI, embedded controller and LabVIEW. This real-time operating S/W was developed for an efficient test of test miner in a near seabed area. Moreover, database management system(DBMS) was developed too for the data management of test miner monitoring using MS SQL and LabVIEW.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.168-177
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• 2008

Trafficablility of a miner and potential environmental impacts due to mining activities should be considered in the selection of a commercial manganese nodule mining site. These two factors can be evaluated comparatively with physical properties and shear strength of sea-bed sediments. For the qualitative comparison of potential minig sites in terms of these two factors, physical properties such as water contents, void ratios, porosities, and grain densities, and shear strengths of surface sediments were determined for the three potential manganese nodule mining sites(KR1, KR2, and KR5) in the Korean manganese nodule contract area, northeast Pacific. For the study, sediment samples were collected from 107 stations from 2004 to 2006. The physical properties of surface sediments showed more significant differences between northern(KR1, KR2) and southern(KR5) blocks than between northern blocks(KR1 vs. KR2). Water content, void ratio, and porosity of sediments from KR5 were relatively higher than those from KR1 and KR2. Grain density of sediments from KR5 was relatively lower than those from KR1 and KR2. Shear strengths of the top 10cm sediments were higher in KR1 and KR2, whereas those of the deeper part were highest in KR5 block. Generally, sediments of high water contents are less suspendible than those of the low water contents by benthic disturbances, thus less disturbance is expected in the sediments of high water content by mining activities. In terms of trafficability, the shear strength of sediment below 10 cm deep is more important than shallower part because miner will disturb at least top 10 cm interval of the surface sediments. Base on these results, we conclude that KR5 area will be the best site for commercial mining among three investigated sites in this study.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1305-1310
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• 2012

The performance of a system can be affected by the variance of noise factors, which arise owing to uncertainties of the material properties and environmental factors acting on the system. For robust design optimization of the system performance, it is necessary to minimize the effect of the variance of the noise factors that are impossible to control. However, present robust design techniques consider the variation of design factors, and not the noise factors, as being important. Furthermore, it is necessary to assume a normal distribution; however, a normal distribution is often not suitable to estimate the variations. In this study, a robust design technique is proposed to consider the variation of noise factors that are estimated as non-normal distributions in a real experiment. As an example of an engineering problem, a deep-sea manganese nodule miner tracked vehicle is used to demonstrate the feasibility of the proposed method.