Virtual modelling and navigation controls of underwater mining machine

Varshney, Nidhi; Janarthanan, C.; Muthuvel, P.; Ramesh, N.R.; Deepak, C.R.; Atmanand, M. A.

doi:10.1109/sympol.2013.6701931

Cited by 5 publications

(2 citation statements)

References 2 publications

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“…Due to the sinkage of the tracks, sediments are raised up at the front end of the tracks, leading the tracks continuously push horizontally against the soil wall in front of it. As a result, the track is subjected to a reaction force known as the bulldozing resistance, which plays a major role in all resistance [35]. Considering the track's pitch angle, track plates sinking in the soil will also be hindered by the soil in front of them.…”

Section: Resistance Calculation and Estimationmentioning

confidence: 99%

Multi-Body Dynamics Modeling and Straight-Line Travel Simulation of a Four-Tracked Deep-Sea Mining Vehicle on Flat Ground

Xia

Lü

Yang

et al. 2023

JMSE

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Deep-sea mining vehicles (DSMVs) are highly prone to sinking and slippage when traveling on extremely soft seafloor sediments. In addition, DSMVs can be vulnerable to dangerous situations such as overturning due to the non-homogeneous characteristic of the seafloor sediments, the heavy loads carried by DSMVs, and the complex and varied topography of the seafloor. When the terrain is uneven, four-tracked DSMVs can show excellent traveling abilities and safety performances compared with conventional dual-tracked vehicles, thus having a broad range of applications. Consequently, modeling and simulation of a four-tracked DSMV are essential for the study of DSMV traveling performance. To enhance adaptability to uneven terrain, the tracks are designed to be rotatable. First, a multi-body dynamics model is built in the Recurdyn software based on the actual structural properties of a specially designed four-tracked DSMV prototype. Then, the model’s forces are modified to reflect the actual circumstances of seafloor travel. Applying a more accurate shear model, a user subroutine is written to modify the track–soil force. Moreover, internal resistance and water resistance are considered and applied to the model in the form of external loads. Then, based on the multi-pass effect, the track–soil force to the rear track is modified. Moreover, considering the relationship between soil forces and velocity, a velocity coefficient is summarized and added to the resistance estimation equation. Consequently, a more realistic dynamic model of the mining vehicle has been developed. On this basis, simulations of straight-line travel on flat ground are performed. In addition, to investigate the effects of rotatable tracks, a straight-line travel simulation with tracks fixed is also performed. By analyzing the simulation results, the motion features and dynamic characteristics of a four-tracked DSMV with rotatable tracks when traveling in a straight line on flat ground can be studied.

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Section: Resistance Calculation and Estimationmentioning

confidence: 99%

Multi-Body Dynamics Modeling and Straight-Line Travel Simulation of a Four-Tracked Deep-Sea Mining Vehicle on Flat Ground

Xia

Lü

Yang

et al. 2023

JMSE

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“…At present, scholars from many manufacturing companies and research institutions at home and abroad have done a great deal of research on the key technology of mining machining cones [6,7]. Based on experimental experiment system, Dogan et al studied the physical requirements, structural characteristics, and technical requirements of the cone, analyzed the influence of stressrelief heat treatment process, welding process, and important cutting parameters (tool feed, cutting speed, etc.)…”

Section: Introductionmentioning

confidence: 99%

Dimension Measurement and Quality Control during the Finishing Process of Large-Size and High-Precision Components

et al. 2022

Mathematical Problems in Engineering

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The accurate measurement and control of the geometric dimensions and shape errors of large-size and high-precision key components are key factor to ensure the machining quality of the equipment package. Aiming to address the urgent problems of poor measurement conditions, complicated error propagation, and difficulty in obtaining accurate measurement results, this research studied the measurement method and control of dimensional accuracy and geometric tolerance in the process of hole machining at room temperature, taking Metso MP 1250 cone level 6 precision point pair workpiece as the object. Through linear analysis and demonstration of quality problems in the existing processing technology, the influence of the expansion coefficient of the workpiece material, measurement error and other factors is analyzed. After correcting the temperature error model, many measurements were carried out in machining experiments, and the normal ability was analyzed by Minitab software. The experimental results showed that the workpiece temperature rises by 1°C, the workpiece will be deformed by 8.503 um. In the measurement process of high-precision and large-size components, the correction accuracy of the temperature error is affected by the combined influence of the model error, the material expansion coefficient error, and the temperature measurement error. The results of this study are of guiding significance for the measurement of the dimension and geometric tolerance precision of large-size and high-precision castings.

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