병렬처리 해석을 통한 심해저 통합채광시스템의 효율적인 해석

Abstract

A deep-seabed integrated mining system consists of a vessel, a lifting pipe, a buffer, a flexible pipe, a mining robot to gather resources such as manganese materials on the deep-seabed. Dynamics analysis of the deep-seabed integrated mining system requires a large number of rigid and flexible multibody elements in order to accurately account for the dynamic responses. Therefore it is needed to have an efficient way to generate equations of motion and also efficient solution method. In this paper, the subsystem synthesis method is proposed to improve the efficiency of analysis. Also the layered parallel processing is proposed for the efficient solution method. The efficiency of using a conventional method,subsystem synthesis method, and subsystem synthesis method with the layered parallel processing has been compared theoretically using computational complexity.