심해저 환경을 고려한 파일럿 집광로봇의 비모수적 불확실성 기반 다분야 통합 최적설계

Abstract

A pilot miner system that collects deep-sea manganese nodules containing many kinds of metals such as copper, manganese and rare-earth elements has various design requirements regarding mining systems. It is an integrated system that contains a collector, a crawler and a chassis structure and travels on cohesive soft soil of deep-sea floor about 5,000 meters depth while collecting manganese nodules. The system which is facing extreme deep-sea environments should be designed reliably and synthetically due to loss cost. But, because information of deep-sea environments is inaccessible and/or hard to be exploited, it commonly exists in discrete form. Therefore, discrete information of environmental parameters should be considered in design phase. In this paper, the nonparametric approach for uncertainty-based multidisciplinary design optimization of a pilot miner system under deep-sea environments is performed.