... & mining underwater miner kinetic model bekker control strategy miner resistance force right track shear displacement Dynamic Analysis and Path Tracking Control of Tracked Underwater Miner in Working Condition Qingjue Han, Shaojun Liu, Yu Dai, Xiaozhou Hu Department of Mechanic and Engineering...

... and dynamic pipe motion and hydrodynamic drag on the moving vehicle is outside the present investigation. upstream oil & gas operational data traction force soil property operation resistance shear stress metals & mining bekker investigation interaction mining machine torque soil...