Miedema, S.A. & Becker, S.

, "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

The Use Of Modelling And Simulation In The Dredging Industry In Particular The Closing Process Of Clamshell Dredges
Dr.ir. S.A.Miedema1 S.Becker, B.Sc2 Abstract The Dredging Research Facilities of the Laboratory of Dredging and Bulk Transport of the Delft University of Technology are used for: fundamental research, applied research and feasibility studies. This research may be carried out by the university or in cooperation with the dredging industry, while students are be involved in the research as part of their education. Dredging vessels, including the anchoring system, floating pipeline or drag arm and head construction, can be considered as complex systems, including complex physical dredging processes. The result of the modelling of a dredging system is a mathematical model describing the system behaviour. By means of simulation software, a mathematical model can be made operational. The primary aim of modelling and simulation of dredging systems is to provide the user with the ability to estimate the behaviour of the system. This can be used for cost calculation, optimising working methods, developing new equipment or scientific research. Physical processes play a dominant role in dredging system, so modelling a dredging system may include physical research Since research has many different aspects, it is important to use a method, which can distinguish the different phases that should be carried out consecutively in the modelling process. The development of simulation software involves a number of levels, including software engineering, the modelling of complex dredging processes, the modelling of basic processes and physical research. These levels consist of a number of consecutive phases, including a requirement analysis, a problem or process analysis, a design or modelling phase, an implementation or physical research phase and a verification and validation phase. This paper describes a systematic approach to the development of simulation models, which has been used for the development of a number of simulation models. The method developed will be illustrated by the CLAMSHELL program, which is the result of field experience, mathematical modelling and physical research. The CLAMSHELL program can be used to make production estimates for existing clamshells in a known soil, or to assist in designing a new clamshell. A sensitivity analysis of the production versus bucket geometry, bucket weight and rope speed will be presented. From this sensitivity analysis the conclusion can be drawn, that the production can be optimised by changing operational parameters such as rope speed.

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

INTRODUCTION Technical Universities have two major goals: scientific research and education. Scientific research includes the development of mathematical description of system and their behaviour, while education includes teaching students to take a systematic approach to problem solving. Systems can be sub-divided into sub-systems, which may include physical processes. The mathematical description of a system may be so complex that computer programs must be used to simulate the system behaviour. Dredging vessels, including the anchoring system and floating pipeline, can be considered to be complex systems. The primary aim of modelling and the simulation of dredging processes and systems is to provide the user with the ability to estimate the behaviour of a dredging process or system, without the necessity of carrying out costly research or prototype tests. The result of the modelling of dredging process and/or system is a mathematical model describing the processes and/or systems. The mathematical model can be made operational by means of simulation software. The user of this simulation software may be a dredging contractor, a dredge builder, a research institute, a consultancy firm or an educational institute. The simulation software can be used for estimating with respect to production and cost calculation, optimising the working method, the development of new equipment, the development of automation system, education, process simulation, scientific research and accumulation of knowledge. In complex dredging system, the physical processes play a dominant role. The way a physical process has to be modelled depends on the purpose for which the system model is intended, on the complexity of the system and on the system boundaries. However, process modelling should always be based on the most accurate and detail mathematical process description possible. On the basis of a detailed process description and depending on the purpose of the simulation model a choice can be made between the implementation of a simplified or a detailed process description in the simulation model. It must, however, be realised that modelling is an attempt to describe reality without having any presumption of being reality. From the above it follows that two main issues have to be considered. The first is Software Engineering; the second is Process Modelling, which encompasses Physical Research. The research into the closing process of clamshells, as described by Becker, Miedema, de Jong and Wittekoek1, 2, is a good illustration of the method developed. Clamshell kinematics and dynamics, soil cutting theories and the bearing capacity theory for deep foundations are combined in a mathematical model describing the closing process of clamshell dredges. This model is implemented in the CLAMSHELL program (Miedema7). The results of this program have been verified by laboratory experiments and validated by field experience. The CLAMSHELL program has been used to carry out a sensitivity analysis to show how the production can be increased by changing the bucket geometry, the clamshell weight or the rope speed.

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

SOFTWARE ENGINEERING Complex software is created by using an engineering approach, which can be viewed as a multi-stage process in which the output of one stage becomes the input to the next stage. This process is often referred to as the Software Engineering Life Cycle. Figure 1 shows a simplified version of this cycle. In practice, the software engineering life cycle may be more complex than the one in Figure 1, however this approach will serve the purpose of this paper. The way the cycle is depicted shows that a number of consecutive phases are carried out: requirement analysis, problem analysis and unknown process factor detection (white spot detection), white spot analysis and modelling, design, implementation, validation, delivery and maintenance.

Figure 1: The Simulation Software Engineering Life Cycle

Author: Dr.ir. S.A. Miedema

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Each phase should begin with a set of documents: the user requirement document, a specification of requirements, the solution method, design documentation, program documentation and test report. Requirements Analysis The cycle commences with the User Requirement Document. This document should state what is required of the software; what its purpose is. Very often, because of lack of understanding the possibilities, the person or company who is going to use the software (the user) gives an incomplete description of what is required. This is the task of the analyst to perform a requirement analysis during which the user should be frequently consulted. The original user requirements are examined by the analyst and are tested for contradictions, ambiguities and internal inconsistencies. In particular, the functional and non-functional requirements will have to be identified. The requirements are refined and discussed with the user until the user and the analyst are in agreement with respect to the functionality of the software. Techniques to determine the requirements include: interviewing, observation and questionnaires. A professional analyst will also take future requirements into consideration. The requirement analysis should result in a Specification of Requirements Document. A simplified version of this document includes: an introduction, functional requirements, nonfunctional requirements, quality assurance and a maintenance specification. The quality assurance will include testing procedures with which the software will be tested in agreement with the user. Problem Analysis & White Spot Detection In the problem analysis phase, the analyst has to find a method to solve the problem. If the problem contains white spots in knowledge, these white spots have to be filled in first. The appropriate method depends on the type of problem. For instance: Is the problem linear or non-linear, can the problem be solved explicitly or implicitly, is it a typical frequency domain or a time domain problem, is a finite element or difference method required, is it perhaps a logistical or administrative problem or the combination of the above. Design In the design phase, the desired software will be designed by using a design strategy such as the Top-down method, which is used in the examples that will be considered in this paper. The design phase should result in design documentation, such as a system manual and a user manual. Implementation In the implementation phase, the design will be converted into a programming language. Beginners and impatient programmers often start the software development at this point, which results in unstructured programs that give many problems in the maintenance phase. Validation The validation phase consists of tests, which should indicate whether or not the software produces the expected output and matches the specification.

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Errors have to be detected and corrected. A test report should result. Delivery & Maintenance The delivery & maintenance phase may continue throughout the life of a piece of software. Often the user asks for modifications and enhancements, which may involve extending the existing software or completely redesigning parts of it. The requirement may change during the life of the software, introducing feedback between the different stages of the software development. From experience it can be stated that software is never error free, so maintenance also involves error correction during the life of the software. However from the requirements analysis a distinct point should be defined at which the software is suitable for delivery to clients. Subsequent extension and enhancement development should be carried out in supplementary projects. MODELLING OF A COMPLEX DREDGING PROCESS When considering a dredging system with respect to the development of simulation software, white spots in the knowledge of the dredging processes may occur. To fill in these white spots, existing theories can be modified, simplified or extended by making certain assumptions. However, this will not be sufficient in all cases, so physical processes will have to be described by mathematical models. Process modelling can also be considered as a multi-stage process carried out by using scientific and engineering approaches. If the results of the research are to be used for the development of mathematical models and subsequently for the development of simulation software, the life cycle of the mathematical model will be similar to the life cycle of the software engineering. As within software engineering, the output of one stage is the input of the next stage and there is feedback between different stages. Both life cycles are iterative. There is, however, one big difference between the cycles, in that physical research is a growing process. Whenever new insight is gained with respect to the physical process, the mathematical model describing the physical process can be modified or extended, resulting in an improved mathematical description of the process. In software development this may lead to deterioration in the structure of the software that may result in maintenance problems. Although costly, restructuring is the only solution. The consecutive phases carried in the development of a mathematical model describing a complex physical dredging process are: requirements analysis, process analysis, splitting up the process into basic processes, modelling of basic processes, mathematical modelling of a complex process, physical research into a complex process, verification and validation. Figure 2 shows a simplified version of the modelling life cycle of a complex dredging process. Requirements Analysis The requirements analysis defines the boundary conditions for the mathematical modelling of the complex dredging process. The boundary conditions determine the context in which the modelling is carried out and may influence the process mechanism as derived from the process analysis. The boundary conditions determine how detailed the process mechanism should be in the context of the system model.

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Process Analysis The result of the process analysis is the process mechanism. Although the process is part of reality, the process mechanism as used for the simulation program may only describe part of the reality, as required by the boundary conditions defined in the requirements analysis. A complex process may consist of multiple interacting basic processes. The process may have a complex geometry and depending on the range of the operational parameters, the process may also consist of multiple process sub-mechanisms within one basic process.

Figure 2: Modelling Cycle Of A Complex Physical Dredging Process

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Split-Up Process In Basic Processes Complex dredging processes are a combination of basic processes with a complex geometry. To model the complex process, a mathematical description of the basic processes should be available. To derive these mathematical descriptions, the complex dredging process will have to be split up into basic processes. After the mathematical description of the basic processes has been derived, these descriptions can be extrapolated for a complex geometry and combined in a mathematical description of the complex dredging process. Modelling of Process n The modelling of basic processes is described in the chapter Modelling of a Basic Process Mathematical Modelling of Complex Dredging Process The mathematical modelling of a complex dredging process consists of determining the interaction of the basic processes and the extrapolation of basic processes to the geometry of the complex process. Since, geometrical extrapolation is usually based on assumptions, physical research is required to verify the model. To give sufficient understanding of the process involved, the mathematical modelling should be as detailed as possible. This allows simplifications following from the boundary conditions resulting from the requirements analysis. Physical Research of Complex Dredging Process A complex dredging process is a combination and interaction of basic processes and a complex geometry. Each basic process may have consecutive stages. For instance the cutting process can be non-cavitating or cavitating, depending on operational parameters like the cutting velocity. The settling of grains may be laminar or turbulent, depending on parameters like the grain size. Since different basic processes may occur simultaneously, in order to get the correct interaction between the basic processes, the stage at which they occur in prototype should be the same as that of the physical research. The best way of achieving this is to carry out the physical research in prototype. As in many cases, this is impossible, the physical research of a complex dredging process will contain compromises and contradictions with respect to model rules. The section Physical Research describes the possible stages of physical research. De Koning3, 4 gives an overview of the different dredging processes and of the research potential that can be carried out at the Laboratory of Dredging and Bulk Transport of the Delft University of Technology. Verification & Validation The verification should ensure that the mathematical description of the complex dredging process matches the observation resulting from the physical research. Since physical research often entails making compromises and contradictions with respect to model rules, the validity of the mathematical model is restricted to the scale at which the research is carried out. Extrapolation to another scale (for instance prototype scale) may give incorrect results. A good example of this is the research on the subject of hydraulic transport. If the physics of the process are sufficiently understood reliable predictions may be achieved in prototype scale,

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

this however only affects the validity of a mathematical process description if a prototype verification has been carried out. MODELLING OF A BASIC PROCESS The consecutive phases carried out in the developing of a mathematical model describing a basic process are: a requirement analysis, a process analysis, the mathematical modelling, physical research, verification and validation. Figure 3 gives an impression of the modelling life cycle of a basic process. Requirements Analysis The Requirements Analysis again defines the boundary conditions, in this case for the mathematical modelling of the basic process. The boundary conditions determine the context in which the modelling is carried out and may influence the process mechanism derived from the process analysis. The boundary conditions determine how detailed the process mechanism should be in the context of the system model and the complex process.

Figure 3: Modelling Cycle Of A Basic Process

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Process Analysis The process analysis of a basic process should result in a description of the process mechanism. The basic process may have multiple sub-mechanisms the occurrence of which depends on the range of the operational parameters. If the process mechanisms are not understood, it is useful to carry out physical tests in order to observe the process mechanisms. Mathematical Modelling The mathematical modelling of the basic process should give the mathematical description of the process mechanisms found in the process analysis. The mathematical description should be as detailed as possible, allowing simplification in a later stage of the modelling sequence. Physical Research The chapter Physical Research describes the stage of the physical research. Verification & Validation In the verification phase the data acquired is compared with the mathematical model. Discrepancies are almost always found. The process analysis will have to be evaluated and compared with the test results to find these discrepancies with respect to the process mechanism. The process mechanism, and thus the mathematical model, will have to be adjusted (tuned) to the result of the tests, since the tests are physical reality. The range of the independent process parameters will have to match the prototype range if possible, to validate the mathematical model for prototype conditions. This has implications for the test stand design. PHYSICAL RESEARCH Physical research should be as fundamental as possible. Empirical mathematical models, although valuable for practical purposes, do not result in an improved understanding of the physical process in the long term. Figure 4 and Figure 5 show the consecutive stages of physical research. Dependent & Independent Process Parameters The mathematical description of a physical process contains dependent and independent process parameters. Independent parameters are not influenced by the process but control it. The values of the independent parameters also determine which sub-process mechanism will occur. This sub-process mechanism should be the same in the prototype as in the physical research; otherwise the validity of the modelling is arbitrary. Dependent parameters are determined by the process and by the value of the independent parameters controlling the process. The independent process parameters can be sub-divided into: Constants Material parameters (Properties)

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Geometrical parameters Operational parameters

The dependent process parameters can be sub-divided into: Explicit parameters (measured directly) Implicit parameters (derived) Model Rules Model rules are very important in determining the value of modelling and physical research. Unless research is to be carried out on a prototype scale, the model rules and scale factors determine what the process mechanism will be during the physical tests. Model rules should not be based on a dimension analysis using dimensionless numbers such as the Raynolds or Froude number, but on a proper understanding of the process mechanisms involved (the mathematical model). Dimensionless numbers, if applicable, should be the result of this. Scale Factors Scale factors should also be based on preserving the occurrence of sub-processes on prototype scale. The scale factors depend on the model rules, the independent process parameters, the range at which these parameters are valid in prototype and boundary conditions. The boundary conditions limit the choice of the scale factors. Very often the space available to build a test rig and the funds available are limiting factors. It should however be ensured that the prototype sub-processes will occur otherwise the research results cannot be applied to the prototype scale. Model Process Independent Parameter Range (M.P.I.P.R) The model process independent parameter range is determined by the scale factors, the independent process parameters and by the range at which these parameters occur in prototype. The model process independent parameter range determines the choice of transducers and the geometry and operational parameters of the test stand. Model Process Dependent Parameter Range (M.P.D.P.R) The model process dependent parameter range should be determined by the mathematical model, the dependent process parameters and by the model process independent parameter range. It is not desirable to take the prototype range and some scale factor based on dimension analysis in order to derive the model process dependent parameter range, since this may be in contradiction with the mathematical model. Choose: Transducer, Signal Conditioning & Data Acquisition The choice of transducers is a very important part of physical research. Transducers are usually designed to transform a physical property into an electrical signal within a certain range of the physical property. Transducers have both absolute and relative accuracy. The absolute accuracy always results in an absolute error, while the relative accuracy results in an error related to the magnitude of the physical property in relation to the range of the

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

transducer. Transducers should be chosen to match the independent and dependent model process parameter ranges, thus minimizing the errors.

Figure 4: Physical Research Parameter Range Determination The output of transducers is usually an electric signal. This signal may have a very small magnitude or may not provide a direct representation of the physical property measured. As a result of transmitting the signal over some distance, the signal may be distorted (white noise), which introduces error. To represent the physical properties measured and to reduce white

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

noise, signals have to be conditioned before they are processed. Very often the data acquisition system allows signals within a range of 0 10 Volts. It is advisable to condition the signals close to the transducers so that the parameter ranges of the physical properties measured match the input range of the data-acquisition system. Signal conditioning can also contain analogue filters (low pass) to eliminate high frequencies (white noise). The dataacquisition system transforms continuous analogue signals into discrete digital signals, suitable for processing with a computer. Important characteristics of a data-acquisition system are the possible input ranges, the maximum sample frequency and the resolution. Modern systems have input ranges of 0 - +10 V; -10 - +10 V; 0 - +5 V; -5 - +5 V; etc. The sample frequency can be several hundreds of MegaHertz, although for most applications cheaper systems up to 100 kHz are available. The resolution determines the accuracy with which a signal value can be represented digitally. A resolution of 12 bits means that a value has an accuracy of the input range divided by 212. For example if the input range is 0 - +10 V and the resolution is 8 bits, the accuracy is 20 mV. This is important with respect to the total accuracy of the measurement system. The sample frequency is important for the measurement of the dynamic aspects of the physical process. If the physical process contains periodic sub-processes the sample frequency must be at least twice the frequency of the periodic sub-process. Another problem that might occur is aliasing. To avoid aliasing, the signal conditioning should contain analogue filters at half the sample frequency. Design: Test Rig The test rig design depends on the transducers chosen, on the range of the independent model process parameters and on boundary conditions such as available space and funds. The test rig design has to ensure a reproduction of the prototype process. When designing a test rig the needs of future research projects should be taken into consideration. The design of the test rig in the Laboratory of Dredging and Bulk Transport is described by the Koning3, 4. Set-up: Test Programme The test programme should be the result of the model process independent parameter range ensuring the occurrence of the prototype process. This determines the validity of the research results. It is however limited by the facilities of the test rig. Carry out: Tests Tests have to be carried out according to a predefined programme. To ensure reproduce ability, it is very important that each test has a well-determined starting point, for instance similar soil mechanical properties of a sand bed. Independent parameters should be controlled during a test and adjusted or kept constant as required. Processing & Interpretation of Acquired Data The data acquired will be processed with a computer and interpreted. The processing is very often carried out on-line. As soon as a test has been completed the first conclusions can be drawn. If a test has failed it can be repeated. If a test gives unexpected results this may give feedback to the test programme.

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Figure 5: Physical Research Test Stand Design & Test Carry Out THE CLOSING PROCESS OF CLAMSHELL DREDGERS INTRODUCTION Many clamshell grabs are being used in the dredging industry in the USA. The need to be able to estimate the production of clamshells in different types of soil was the reason for Great Lakes Dredge and Dock Company to start fundamental research into the processes involved in the digging of clamshell grabs. In 1989 this resulted in the computer program CLAMSHELL (Miedema7), which simulates the digging process of a clamshell grab in water-saturated sand or clay. Although the results of the program were promising, there was a need for verification and validation. Model research was carried out by Wittekoek9, 10, 11 at the

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Laboratory of Dredging and Bulk Transport of the Delft University of Technology in 1991. In 1993 the results of this research were published by Becker, Miedema, de Jong and Wittekoek1, 2. Since 1989 the CLAMSHELL program has been used for production estimating. Also sensitivity studies have been carried out. The main goal of the sensitivity studies was to understand which parameters influence the production of the clamshells the most. The method developed in the first section of this paper will be applied to the clamshell research. SOFTWARE ENGINEERING Requirements Analysis The requirements of Great Lakes, at the time the research started, was: To determine the production of a clamshell dredge in different soils

From the requirements analysis the following requirements were found: Predict the production in sand and clay Predict the shape of the cutting curve Predict the pulling force in the closing wire Predict the force on the cutting edge The software will be used mainly for production estimation The software should be user-friendly The software should show the closing of the buckets The software has to be self containing and has to run on an MS-DOS computer Problem Analysis Clamshell grabs as used in the dredging industry, consist of six main bodies that can be distinguished as is shown in Figure 6. These six bodies are the upper sheave block, the lower sheave block, the two arms and the two buckets. In between the two sheave blocks the closing wire (rope) is reeved with a certain number of parts of line. The hoisting (and lowering) wire is mounted on top of the upper sheave block. A cycle of the grabbing process in a soil, which is hard to dig, consists of first lowering the clamshell fully opened and placing it on the soil to be excavated. When the clamshell is resting on the soil the hoisting wire is kept slack, so the clamshell will penetrate vertically into the soil by its own weight. This is called the initial penetration. The distance between the two sheave blocks is at a maximum during the initial penetration. Secondly the closing wire is hauled in, resulting in the two sheave blocks being pulled towards each other and thus causing the closing of the buckets. During this second stage, the hoisting wire is kept slack, so the buckets are allowed to penetrate into the soil. In soft soils it may be necessary to keep the hoisting wire tight, because otherwise the clamshell might penetrate too deeply into the soil, resulting in a lot of spillage. At the end of the second stage the clamshell is closed and will be raised with the hoisting (and closing) wire.

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Figure 6: The Nomenclature of The Clamshell Buckets

Figure 7: Three Stages of The Closing Process Figure 7 shows the stages of the closing cycle of clamshell. The amount of soil taken by the clamshell depends on the kinematics and the weight distribution of the clamshell and on the mechanical properties of the soil to be dredged. White Spot Detection The kinematics of the clamshells is known from literature (Wittekoek9, 10, 11). The interaction of a clamshell with the soil has never been described sufficiently in literature. The white spots in knowledge are: The cutting forces on the cutting edges The forces on the side edges of the buckets

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

The friction forces on the sides of the buckets The initial penetration of the cutting edges

The modelling of the white spots will be considered in the following section. Design and Implementation The CLAMSHELL software package consists of one program, which is event driven. The user can edit all the important program variables, store and retrieve the data to and from disk and perform calculations as required. The non-linear equations of motion are solved in the time domain using an implicit Newton Raphson method. The motions of the clamshell are shown on screen on line. When the clamshell has closed, the most important data will be stored to disk and can be viewed on screen. Validation The CLAMSHELL program has been validated by a series of model tests as described by Becker, Miedema, de Jong and Wittekoek1, 2. MODELLING OF A COMPLEX DREDGING PROCESS Requirement Analysis Since the closing process of a clamshell dredge can be described by an equation of motion, forces and moments must be expressed as functions of the angular velocity of the buckets, the bucket angle and the vertical position of the cutting edges. The values of these parameters change continuously during the closing process. Process Analysis In order to calculate the closing curve of a clamshell, the equations of motion of the moving parts of the clamshell have to be solved. The type of clamshell considered has six main bodies that are subject to motions. These bodies are the upper sheave block, the lower sheave block, the two arms and the two buckets. Because the arms have a small rotational amplitude and translate vertically with the upper sheave block, they are considered as part of the upper sheave block. The error made by this simplification is negligible. If a clamshell is considered to be symmetrical with respect to its vertical axis, only the equations of motion of one half of the clamshell have to be solved. The other half is subject to exactly the same motions, but mirrored with respect to the vertical axis. Since there are three main bodies left, three equations of motion have to be derived. In these equations weights are considered to be submerged weights and masses are considered to be the sum of the steel masses and the hydro-mechanical added masses. The weights and the masses as used in the equations of motion are also valid for one half of the clamshell. The positive directions of motions, forces and moments are depicted in Figure 8. Except for inertial forces, the clamshell is subjected to forces exerted by the soil on the cutting edges, the side edges and the sides of buckets.

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Figure 8: The Parameters Involved (Forces & Motions) Split Up The Process In Basic Processes According to Becker, Miedema, de Jong and Wittekoek1, 2, 4 different loads exerted by the soil on the buckets can be distinguished. These loads are: The cutting force on the cutting edge The vertical force on the bottom of the cutting edge The forces on the front of the side edges The friction forces on the sides of the buckets

The basic processes causing these loads will have to be investigated. Modelling of Process n The Modelling of a Basic Process and Physical Research have been described by Becker, Miedema, de Jong and Wittekoek1, 2 for clamshell modelling. Mathematical Modelling For the upper sheave block the following equation can be derived from the equilibrium of forces:
m u y u = Fr (i 1) + Wu Fa cos( )
..

(1)

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Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Figure 9: The Test Rig With The Model Clamshell The motion of the lower sheave block should satisfy the equilibrium equation of forces according to:
m y = Fr i + W + Wb m b y b + m b bg cos( + ) + Fa cos( ) + Fcv + Fev
.. .. .2

(2)

For the rotation of the bucket the following equilibrium equation of motions around the bucket bearing is valid: I b = Wb bg sin( + ) + m b y b bg sin( + ) Fa cos( ) bc sin( + ) + Fa sin( ) bc cos( + ) + Fch ab cos() Fcv ab sin( ) M e
.. ..

(3)

Since, in practice, the motions of a clamshell depends only on the rope speed and the type of soil dredged, the three equations form a dependent system, with only one degree of freedom. Since the equations of motion are non-linear they will have to be solved numerically. Verification & Validation The mathematical model, as implemented in the CLAMSHELL program, has been verified by physical research with a model clamshell at Delft University of Technology. Figure 9 gives shows of test stand used. Figure 10 gives the closing curves, closing forces and angular velocities for four different tests in loose sand. Figure 11 gives the closing curve, closing force and angular velocities, as calculated by the CLAMSHELL program. It is obvious, that there is a satisfactory match between the calculations and the measurements. SENSITIVITY ANALYSIS In the previous sections a structured method for the development of simulation software and for mathematical modelling and physical research has been given. This provides an example of the practical application of the CLAMSHELL program.

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Figure 10: Closing Curve, Closing Force and Angular Velocity in Loose Sand

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Figure 11: Closing Curve, Closing Force and Angular Velocity, Theoretical

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

The Chicago (Figure 12) is one of the largest clamshell dredgers in the world. It operates 38 m3 buckets for mud dredging, 31 m3 buckets for firmer material and 23 m3 for hard digging material. With a cycle time of about 45 seconds, a production of up to 3000 m3/hr can be reached. It is interesting to know whether the production can be increased, by changing the bucket design or by changing the operational parameters of the dredging process. A sensitivity analysis has been carried out with respect to the production and the force in the closing wire per cycle, as functions of the total weight of the clamshell and the top angle as bucket design parameters and also as functions of opening angle and the rope speed as operational parameters. The sensitivity analysis was carried out using the 38 m3 buckets in medium hard sand at 10 m water depth. As a reference a clamshell, with the total weight of 45 tons, a top angle of 78 degrees, with an opening angle of 85 degrees and rope speed of 1m/s is used.

Figure 12: The Chicago in Full Operation First, the top angle (the angle of the cutting edge with the vertical in closed position) was changed from 78 degrees (production 28.4 ton) to 70 degrees (production 25.4 ton) and to 86 degrees (production 32 .0 ton) Figure 13 shows that the biggest top angle gives the highest production per cycle. Figure 14 shows that the force in the closing wire has also increased with an increasing top angle. Secondly, the opening angle (the angle in Figure 8) was changed from 85 degrees (production 28.4 ton) to 80 degrees (production 28.0 ton) and to 90 degrees (production 29.1 ton). Figure 13 shows that changing the opening angle has influence only on the span, and not on the depth of the cutting curve. Figure 14 shows that changing the opening angle has very little influence on the force in the closing wire.

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Figure 13: Closing Curves at Different Input

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Figure 14: Closing Wire Forces at Different Input

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Thirdly, the rope speed of the closing wire has been changed from 1m/s (production 28.4 ton) to 0.67m/s (production 33.6 ton) and to 1.5m/s (production 23.2 ton). Figure 13 shows the influence of the rope speed on the cutting curves and Figure 14 shows the influence on the force in the closing wire. Fourthly, the total weight of the clamshell was changed from 45 tons (production 28.4 ton) to 36 tons (production 25.1 ton) and to 56 tons (production 31.3 ton). Again Figure 13 shows the resulting cutting curves, while Figure 14 shows the force in the closing wire. From the calculations carried out, it can be concluded that, in the case considered, changing the opening angle has very little influence on the production. Changing the top angle, the rope speed or the weight of the clamshell have a considerable influence on the production per cycle. The question now is, how can the production be improved without changing the whole dredge? In other words, what is the cheapest way to increase production? Increasing the top angle to a value approaching close to 90 degrees will increase the production per cycle, but also pulling force in the closing wire, thus requiring a bigger winch. This measure can be used during the design stage. Increasing the weight of the clamshell will always increase the production per cycle, but this would require a bigger dredge. Whether this is cost effective remains to be seen. Decreasing the rope speed increases the production per cycle, but it also increase the cycle time. For a rope speed of 0.67 m/s the closing time is 17.5 seconds, for a rope speed of 1 m/s the closing time is 12 seconds and for a rope speed of 1.5 m/s the closing time is 8.1 seconds. Dividing the production by the closing time will give the production for the closing solely. In this case the rope speed of 1.5 m/s will give the highest production per unit of time. However a closing cycle of a clamshell also includes lowering and hoisting the clamshell, swinging and dumping. For the case considered, these actions will take about 33 seconds, so this time will have to be added to the closing time to give the total cycle time. Calculating the production per unit of time for the total cycle time leads to the conclusion that the rope speed of 0.67 m/s gives the highest production in the case considered. The force in the closing wire is hardly influenced by this. Decreasing the rope speed further may increase the production more until an optimum rope speed is found. The three measures that lead to an increased production per cycle, have all increased the vertical force exerted by the clamshell on the soil leading to a higher penetration force on the cutting edges. CONCLUSION Some general conclusions can be drawn from the analysis of the development of the software for the simulation of the behaviour of complex dredging systems. The order in which the conclusions are given reflects the structure of the flow charts in this paper.

Dredging processes play a dominant role in the system behaviour, so it is essential to understand these processes. If there are unknown process factors (white spots), these should be modelled first.

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

If the white spots in knowledge concern complex dredging processes, the basic components of the process should be analysed. The mechanism of the basic process should be determined and from this a mathematical description should be derived. The mathematical model contains independent and dependent parameters. It is important to know these parameters to be able to derive model rules and scale factors and to determine which transducers (sensors) are required for physical research. It is of the utmost importance that a process of a model scale follows a similar process mechanism as it would on a prototype scale. Model rules and scale factors should be based on this requirement. The process medium should be the medium as it occurs on prototype scale Test should be carried out to verify and validate the mathematical description of the process involved. When the basic processes are modelled, they can be combined and extrapolated to a complex geometry in order to model the complex process, including the interaction of the basic processes. Test should be carried out to verify and validate the mathematical description of the complex process involved. If all the white spots are modelled, the software can be designed and implemented including the derived process models.

Since problems differ, solving these problems may require adjustments to the structure of the problem solving method described in this paper. It is, however, the experience of the author that using this method saves time and disappointments. LIST OF SYMBOLS USED ab bc bg dc Fa Fch Fcv Fev Fr i Ib mb m mu Distance between cutting edge and bucket bearing Distance between bucket bearing and arm bearing Distance between bucket bearing and centre of gravity Length of arm Force in one arm Horizontal force on the cutting edge Vertical force on the cutting edge Vertical force on the side edges Force in the closing rope (wire) Number of parts of line Mass moment of inertia of bucket Mass + added mass of bucket Mass + added mass of lower sheave block Mass + added mass of upper sheave block and arms m m m m N N N N N kg.m2 N kg kg

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993.

Me Wb W Wu yb y yu

Moment of side edge forces around bucket bearing Under water weight of bucket Under water weight of lower sheave block Under water weight of upper sheave block and arms Vertical position of bucket centre of gravity Vertical position of bucket lower sheave block Vertical position of bucket upper sheave block Angle of arm with vertical Angle between cutting edge, bucket bearing and bucket centre of gravity Closing (opening) angle of bucket with vertical Angle between cutting edge, bucket and arm bearings BIBLIOGRAPHY

Nm N N N m m m rad rad rad rad

(1)

(2)

(3) (4) (5) (6) (7)

(8)

(9)

(10)

(11)

Becker, S & Miedema, S.A & Jong, P.S de & Wittekoek, S, On the closing process of Clamshell Dredges in Water Saturated Sand. Proc. WODCON XIII, Bombay, India, 1992 Becker, S & Miedema, S.A & Jong, P.S de & Wittekoek, S, The closing process of Clamshell Dredges in Water Saturated Sand. Terra et Aqua No. 49, September 1992, IADC, The Hague Koning, J. de, Selection of Dredging Methods and Equipment. Proc. WODCON XII, Orlando, Florida, USA, April 1989 Koning, J. de, Laboratory of Soil Movement and Bulk Transport, Dredging Research Facilities. Delft University of Tech., October 1992 Miedema, S.A, The Calculation of the Cutting Forces when Cutting Water Saturated Sand. Doctor thesis, Delft, Netherlands, 1987 Miedema, S.A, On the Cutting Forces in Saturated Sand of Seagoing Cutter Suction Dredger. Proc. WODCON XII, Orlando, USA, 1989 Miedema, S.A, Clamshell V1.50. Software for the simulation of the closing process of clamshell dredges. Great Lakes Dredge & Dock Company, Chicago, USA, 1989 Miedema, S.A, Modelling and Simulation of Dredging Processes and Systems. Symposium Zicht op Baggerprocessen, Delft University of Tech., Netherlands, 29 October 1992 Wittekoek, S, The Determination Of The Closing Process Of Clamshell Dredges In Water Saturated Sand. Report 90.3.GV.2771, Delft University of Tech., Netherlands, 1991 Wittekoek, S, The Validation Of A Calculation Method For The Simulation Of The Closing Process Of Clamshell Grabs For Dredging Purposes. Report 90.3.GV.2829, Delft University of Tech., Netherlands, 1991 Wittekoek, S, The Development Of An Improved Clamshell. Report 90.3.GV.2858, Delft University of Tech., Netherlands, 1991

Author: Dr.ir. S.A. Miedema

Copyright: Dr.ir. S.A. Miedema

Bibliography Dr.ir. S.A. Miedema 1980-2010

1. Koert, P. & Miedema, S.A., "Report on the field excursion to the USA April 1981" (PDF in Dutch 27.2 MB). Delft University of Technology, 1981, 48 pages. 2. Miedema, S.A., "The flow of dredged slurry in and out hoppers and the settlement process in hoppers" (PDF in Dutch 37 MB). ScO/81/105, Delft University of Technology, 1981, 147 pages. 3. Miedema, S.A., "The soil reaction forces on a crown cutterhead on a swell compensated ladder" (PDF in Dutch 19 MB). LaO/81/97, Delft University of Technology, 1981, 36 pages. 4. Miedema, S.A., "Computer program for the determination of the reaction forces on a cutterhead, resulting from the motions of the cutterhead" (PDF in Dutch 11 MB). Delft Hydraulics, 1981, 82 pages. 5. Miedema, S.A. "The mathematical modeling of the soil reaction forces on a cutterhead and the development of the computer program DREDMO" (PDF in Dutch 25 MB). CO/82/125, Delft University of Technology, 1982, with appendices 600 pages. 6. Miedema, S.A.,"The Interaction between Cutterhead and Soil at Sea" (In Dutch). Proc. Dredging Day November 19th, Delft University of Technology 1982. 7. Miedema, S.A., "A comparison of an underwater centrifugal pump and an ejector pump" (PDF in Dutch 3.2 MB). Delft University of Technology, 1982, 18 pages. 8. Miedema, S.A., "Computer simulation of Dredging Vessels" (In Dutch). De Ingenieur, Dec. 1983. (Kivi/Misset). 9. Koning, J. de, Miedema, S.A., & Zwartbol, A., "Soil/Cutterhead Interaction under Wave Conditions (Adobe Acrobat PDF-File 1 MB)". Proc. WODCON X, Singapore 1983. 10. Miedema, S.A. "Basic design of a swell compensated cutter suction dredge with axial and radial compensation on the cutterhead" (PDF in Dutch 20 MB). CO/82/134, Delft University of Technology, 1983, 64 pages. 11. Miedema, S.A., "Design of a seagoing cutter suction dredge with a swell compensated ladder" (PDF in Dutch 27 MB). IO/83/107, Delft University of Technology, 1983, 51 pages. 12. Miedema, S.A., "Mathematical Modeling of a Seagoing Cutter Suction Dredge" (In Dutch). Published: The Hague, 18-9-1984, KIVI Lectures, Section Under Water Technology. 13. Miedema, S.A., "The Cutting of Densely Compacted Sand under Water (Adobe Acrobat PDF-File 575 kB)". Terra et Aqua No. 28, October 1984 pp. 4-10. 14. Miedema, S.A., "Longitudinal and Transverse Swell Compensation of a Cutter Suction Dredge" (In Dutch). Proc. Dredging Day November 9th 1984, Delft University of Technology 1984. 15. Miedema, S.A., "Compensation of Velocity Variations". Patent application no. 8403418, Hydromeer B.V. Oosterhout, 1984. 16. Miedema, S.A., "Mathematical Modeling of the Cutting of Densely Compacted Sand Under Water". Dredging & Port Construction, July 1985, pp. 22-26. 17. Miedema, S.A., "Derivation of the Differential Equation for Sand Pore Pressures". Dredging & Port Construction, September 1985, pp. 35. 18. Miedema, S.A., "The Application of a Cutting Theory on a Dredging Wheel (Adobe Acrobat 4.0 PDF-File 745 kB)". Proc. WODCON XI, Brighton 1986. 19. Miedema, S.A., "Underwater Soil Cutting: a Study in Continuity". Dredging & Port Construction, June 1986, pp. 47-53.

20. Miedema, S.A., "The cutting of water saturated sand, laboratory research" (In Dutch). Delft University of Technology, 1986, 17 pages. 21. Miedema, S.A., "The forces on a trenching wheel, a feasibility study" (In Dutch). Delft, 1986, 57 pages + software. 22. Miedema, S.A., "The translation and restructuring of the computer program DREDMO from ALGOL to FORTRAN" (In Dutch). Delft Hydraulics, 1986, 150 pages + software. 23. Miedema, S.A., "Calculation of the Cutting Forces when Cutting Water Saturated Sand (Adobe Acrobat 4.0 PDF-File 16 MB)". Basic Theory and Applications for 3-D Blade Movements and Periodically Varying Velocities for, in Dredging Commonly used Excavating Means. Ph.D. Thesis, Delft University of Technology, September 15th 1987. 24. Bakker, A. & Miedema, S.A., "The Specific Energy of the Dredging Process of a Grab Dredge". Delft University of Technology, 1988, 30 pages. 25. Miedema, S.A., "On the Cutting Forces in Saturated Sand of a Seagoing Cutter Suction Dredge (Adobe Acrobat 4.0 PDF-File 1.5 MB)". Proc. WODCON XII, Orlando, Florida, USA, April 1989. This paper was given the IADC Award for the best technical paper on the subject of dredging in 1989. 26. Miedema, S.A., "The development of equipment for the determination of the wear on pick-points" (In Dutch). Delft University of Technology, 1990, 30 pages (90.3.GV.2749, BAGT 462). 27. Miedema, S.A., "Excavating Bulk Materials" (In Dutch). Syllabus PATO course, 1989 & 1991, PATO The Hague, The Netherlands. 28. Miedema, S.A., "On the Cutting Forces in Saturated Sand of a Seagoing Cutter Suction Dredge (Adobe Acrobat 4.0 PDF-File 1.5 MB)". Terra et Aqua No. 41, December 1989, Elseviers Scientific Publishers. 29. Miedema, S.A., "New Developments of Cutting Theories with respect to Dredging, the Cutting of Clay (Adobe Acrobat 4.0 PDF-File 640 kB)". Proc. WODCON XIII, Bombay, India, 1992. 30. Davids, S.W. & Koning, J. de & Miedema, S.A. & Rosenbrand, W.F., "Encapsulation: A New Method for the Disposal of Contaminated Sediment, a Feasibility Study (Adobe Acrobat 4.0 PDF-File 3MB)". Proc. WODCON XIII, Bombay, India, 1992. 31. Miedema, S.A. & Journee, J.M.J. & Schuurmans, S., "On the Motions of a Seagoing Cutter Dredge, a Study in Continuity (Adobe Acrobat 4.0 PDF-File 396 kB)". Proc. WODCON XIII, Bombay, India, 1992. 32. Becker, S. & Miedema, S.A. & Jong, P.S. de & Wittekoek, S., "On the Closing Process of Clamshell Dredges in Water Saturated Sand (Adobe Acrobat 4.0 PDF-File 1 MB)". Proc. WODCON XIII, Bombay, India, 1992. This paper was given the IADC Award for the best technical paper on the subject of dredging in 1992. 33. Becker, S. & Miedema, S.A. & Jong, P.S. de & Wittekoek, S., "The Closing Process of Clamshell Dredges in Water Saturated Sand (Adobe Acrobat 4.0 PDF-File 1 MB)". Terra et Aqua No. 49, September 1992, IADC, The Hague. 34. Miedema, S.A., "Modeling and Simulation of Dredging Processes and Systems". Symposium "Zicht op Baggerprocessen", Delft University of Technology, Delft, The Netherlands, 29 October 1992. 35. Miedema, S.A., "Dredmo User Interface, Operators Manual". Report: 92.3.GV.2995. Delft University of Technology, 1992, 77 pages. 36. Miedema, S.A., "Inleiding Mechatronica, college WBM202" Delft University of Technology, 1992.

37. Miedema, S.A. & Becker, S., "The Use of Modeling and Simulation in the Dredging Industry, in Particular the Closing Process of Clamshell Dredges", CEDA Dredging Days 1993, Amsterdam, Holland, 1993. 38. Miedema, S.A., "On the Snow-Plough Effect when Cutting Water Saturated Sand with Inclined Straight Blades (Adobe Acrobat 4.0 PDF-File 503 kB)". ASCE Proc. Dredging 94, Orlando, Florida, USA, November 1994. Additional Measurement Graphs. (Adobe Acrobat 4.0 PDF-File 209 kB). 39. Riet, E. van, Matousek, V. & Miedema, S.A., "A Reconstruction of and Sensitivity Analysis on the Wilson Model for Hydraulic Particle Transport (Adobe Acrobat 4.0 PDF-File 50 kB)". Proc. 8th Int. Conf. on Transport and Sedimentation of Solid Particles, 24-26 January 1995, Prague, Czech Republic. 40. Vlasblom, W.J. & Miedema, S.A., "A Theory for Determining Sedimentation and Overflow Losses in Hoppers (Adobe Acrobat 4.0 PDF-File 304 kB)". Proc. WODCON IV, November 1995, Amsterdam, The Netherlands 1995. 41. Miedema, S.A., "Production Estimation Based on Cutting Theories for Cutting Water Saturated Sand (Adobe Acrobat 4.0 PDF-File 423 kB)". Proc. WODCON IV, November 1995, Amsterdam, The Netherlands 1995. Additional Specific Energy and Production Graphs. (Adobe Acrobat 4.0 PDF-File 145 kB). 42. Riet, E.J. van, Matousek, V. & Miedema, S.A., "A Theoretical Description and Numerical Sensitivity Analysis on Wilson's Model for Hydraulic Transport in Pipelines (Adobe Acrobat 4.0 PDF-File 50 kB)". Journal of Hydrology & Hydromechanics, Slovak Ac. of Science, Bratislava, June 1996. 43. Miedema, S.A. & Vlasblom, W.J., "Theory for Hopper Sedimentation (Adobe Acrobat 4.0 PDF-File 304 kB)". 29th Annual Texas A&M Dredging Seminar. New Orleans, June 1996. 44. Miedema, S.A., "Modeling and Simulation of the Dynamic Behavior of a Pump/Pipeline System (Adobe Acrobat 4.0 PDF-File 318 kB)". 17th Annual Meeting & Technical Conference of the Western Dredging Association. New Orleans, June 1996. 45. Miedema, S.A., "Education of Mechanical Engineering, an Integral Vision". Faculty O.C.P., Delft University of Technology, 1997 (in Dutch). 46. Miedema, S.A., "Educational Policy and Implementation 1998-2003 (versions 1998, 1999 and 2000) (Adobe Acrobat 4.0 PDF_File 195 kB)". Faculty O.C.P., Delft University of Technology, 1998, 1999 and 2000 (in Dutch). 47. Keulen, H. van & Miedema, S.A. & Werff, K. van der, "Redesigning the curriculum of the first three years of the mechanical engineering curriculum". Proceedings of the International Seminar on Design in Engineering Education, SEFI-Document no.21, page 122, ISBN 2-87352-024-8, Editors: V. John & K. Lassithiotakis, Odense, 22-24 October 1998. 48. Miedema, S.A. & Klein Woud, H.K.W. & van Bemmel, N.J. & Nijveld, D., "Self Assesment Educational Programme Mechanical Engineering (Adobe Acrobat 4.0 PDF-File 400 kB)". Faculty O.C.P., Delft University of Technology, 1999. 49. Van Dijk, J.A. & Miedema, S.A. & Bout, G., "Curriculum Development Mechanical Engineering". MHO 5/CTU/DUT/Civil Engineering. Cantho University Vietnam, CICAT Delft, April 1999. 50. Miedema, S.A., "Considerations in building and using dredge simulators (Adobe Acrobat 4.0 PDF-File 296 kB)". Texas A&M 31st Annual Dredging Seminar. Louisville Kentucky, May 16-18, 1999.

51. Miedema, S.A., "Considerations on limits of dredging processes (Adobe Acrobat 4.0 PDF-File 523 kB)". 19th Annual Meeting & Technical Conference of the Western Dredging Association. Louisville Kentucky, May 16-18, 1999. 52. Miedema, S.A. & Ruijtenbeek, M.G. v.d., "Quality management in reality", "Kwaliteitszorg in de praktijk". AKO conference on quality management in education. Delft University of Technology, November 3rd 1999. 53. Miedema, S.A., "Curriculum Development Mechanical Engineering (Adobe Acrobat 4.0 PDF-File 4 MB)". MHO 5-6/CTU/DUT. Cantho University Vietnam, CICAT Delft, Mission October 1999. 54. Vlasblom, W.J., Miedema, S.A., Ni, F., "Course Development on Topic 5: Dredging Technology, Dredging Equipment and Dredging Processes". Delft University of Technology and CICAT, Delft July 2000. 55. Miedema, S.A., Vlasblom, W.J., Bian, X., "Course Development on Topic 5: Dredging Technology, Power Drives, Instrumentation and Automation". Delft University of Technology and CICAT, Delft July 2000. 56. Randall, R. & Jong, P. de & Miedema, S.A., "Experience with cutter suction dredge simulator training (Adobe Acrobat 4.0 PDF-File 1.1 MB)". Texas A&M 32nd Annual Dredging Seminar. Warwick, Rhode Island, June 25-28, 2000. 57. Miedema, S.A., "The modelling of the swing winches of a cutter dredge in relation with simulators (Adobe Acrobat 4.0 PDF-File 814 kB)". Texas A&M 32nd Annual Dredging Seminar. Warwick, Rhode Island, June 25-28, 2000. 58. Hofstra, C. & Hemmen, A. van & Miedema, S.A. & Hulsteyn, J. van, "Describing the position of backhoe dredges (Adobe Acrobat 4.0 PDF-File 257 kB)". Texas A&M 32nd Annual Dredging Seminar. Warwick, Rhode Island, June 25-28, 2000. 59. Miedema, S.A., "Automation of a Cutter Dredge, Applied to the Dynamic Behaviour of a Pump/Pipeline System (Adobe Acrobat 4.0 PDF-File 254 kB)". Proc. WODCON VI, April 2001, Kuala Lumpur, Malaysia 2001. 60. Heggeler, O.W.J. ten, Vercruysse, P.M., Miedema, S.A., "On the Motions of Suction Pipe Constructions a Dynamic Analysis (Adobe Acrobat 4.0 PDF-File 110 kB)". Proc. WODCON VI, April 2001, Kuala Lumpur, Malaysia 2001. 61. Miedema, S.A. & Zhao Yi, "An Analytical Method of Pore Pressure Calculations when Cutting Water Saturated Sand (Adobe Acrobat PDF-File 2.2 MB)". Texas A&M 33nd Annual Dredging Seminar, June 2001, Houston, USA 2001. 62. Miedema, S.A., "A Numerical Method of Calculating the Dynamic Behaviour of Hydraulic Transport (Adobe Acrobat PDF-File 246 kB)". 21st Annual Meeting & Technical Conference of the Western Dredging Association, June 2001, Houston, USA 2001. 63. Zhao Yi, & Miedema, S.A., "Finite Element Calculations To Determine The Pore Pressures When Cutting Water Saturated Sand At Large Cutting Angles (Adobe Acrobat PDF-File 4.8 MB)". CEDA Dredging Day 2001, November 2001, Amsterdam, The Netherlands. 64. Miedema, S.A., "Mission Report Cantho University". MHO5/6, Phase Two, Mission to Vietnam by Dr.ir. S.A. Miedema DUT/OCP Project Supervisor, 27 September-8 October 2001, Delft University/CICAT. 65. " " (Finite Element Calculations To Determine The Pore Pressures When Cutting Water (Zhao Yi), & (Miedema, S.A.),

Saturated Sand At Large Cutting Angles (Adobe Acrobat PDF-File 4.8 MB))". To be published in 2002. 66. Miedema, S.A., & Riet, E.J. van, & Matousek, V., "Theoretical Description And Numerical Sensitivity Analysis On Wilson Model For Hydraulic Transport Of Solids In Pipelines (Adobe Acrobat PDF-File 147 kB)". WEDA Journal of Dredging Engineering, March 2002. 67. Miedema, S.A., & Ma, Y., "The Cutting of Water Saturated Sand at Large Cutting Angles (Adobe Acrobat PDF-File 3.6 MB)". Proc. Dredging02, May 5-8, Orlando, Florida, USA. 68. Miedema, S.A., & Lu, Z., "The Dynamic Behavior of a Diesel Engine (Adobe Acrobat PDF-File 363 kB)". Proc. WEDA XXII Technical Conference & 34th Texas A&M Dredging Seminar, June 12-15, Denver, Colorado, USA. 69. Miedema, S.A., & He, Y., "The Existance of Kinematic Wedges at Large Cutting Angles (Adobe Acrobat PDF-File 4 MB)". Proc. WEDA XXII Technical Conference & 34th Texas A&M Dredging Seminar, June 12-15, Denver, Colorado, USA. 70. Ma, Y., Vlasblom, W.J., Miedema, S.A., Matousek, V., "Measurement of Density and Velocity in Hydraulic Transport using Tomography". Dredging Days 2002, Dredging without boundaries, Casablanca, Morocco, V64-V73, 22-24 October 2002. 71. Ma, Y., Miedema, S.A., Vlasblom, W.J., "Theoretical Simulation of the Measurements Process of Electrical Impedance Tomography". Asian Simulation Conference/5th International Conference on System Simulation and Scientific Computing, Shanghai, 3-6 November 2002, p. 261-265, ISBN 7-5062-5571-5/TP.75. 72. Thanh, N.Q., & Miedema, S.A., "Automotive Electricity and Electronics". Delft University of Technology and CICAT, Delft December 2002. 73. Miedema, S.A., Willemse, H.R., "Report on MHO5/6 Mission to Vietnam". Delft University of Technology and CICAT, Delft Januari 2003. 74. Ma, Y., Miedema, S.A., Matousek, V., Vlasblom, W.J., "Tomography as a Measurement Method for Density and Velocity Distributions". 23rd WEDA Technical Conference & 35th TAMU Dredging Seminar, Chicago, USA, june 2003. 75. Miedema, S.A., Lu, Z., Matousek, V., "Numerical Simulation of a Development of a Density Wave in a Long Slurry Pipeline". 23rd WEDA Technical Conference & 35th TAMU Dredging Seminar, Chicago, USA, june 2003. 76. Miedema, S.A., Lu, Z., Matousek, V., "Numerical simulation of the development of density waves in a long pipeline and the dynamic system behavior". Terra et Aqua, No. 93, p. 11-23. 77. Miedema, S.A., Frijters, D., "The Mechanism of Kinematic Wedges at Large Cutting Angles - Velocity and Friction Measurements". 23rd WEDA Technical Conference & 35th TAMU Dredging Seminar, Chicago, USA, june 2003. 78. Tri, Nguyen Van, Miedema, S.A., Heijer, J. den, "Machine Manufacturing Technology". Lecture notes, Delft University of Technology, Cicat and Cantho University Vietnam, August 2003. 79. Miedema, S.A., "MHO5/6 Phase Two Mission Report". Report on a mission to Cantho University Vietnam October 2003. Delft University of Technology and CICAT, November 2003. 80. Zwanenburg, M., Holstein, J.D., Miedema, S.A., Vlasblom, W.J., "The Exploitation of Cockle Shells". CEDA Dredging Days 2003, Amsterdam, The Netherlands, November 2003. 81. Zhi, L., Miedema, S.A., Vlasblom, W.J., Verheul, C.H., "Modeling and Simulation of the Dynamic Behaviour of TSHD's Suction Pipe System by using Adams". CHIDA Dredging Days, Shanghai, China, november 2003.

82. Miedema, S.A., "The Existence of Kinematic Wedges at Large Cutting Angles". CHIDA Dredging Days, Shanghai, China, november 2003. 83. Miedema, S.A., Lu, Z., Matousek, V., "Numerical Simulation of the Development of Density Waves in a Long Pipeline and the Dynamic System Behaviour". Terra et Aqua 93, December 2003. 84. Miedema, S.A. & Frijters, D.D.J., "The wedge mechanism for cutting of water saturated sand at large cutting angles". WODCON XVII, September 2004, Hamburg Germany. 85. Verheul, O. & Vercruijsse, P.M. & Miedema, S.A., "The development of a concept for accurate and efficient dredging at great water depths". WODCON XVII, September 2004, Hamburg Germany. 86. Miedema, S.A., "THE CUTTING MECHANISMS OF WATER SATURATED SAND AT SMALL AND LARGE CUTTING ANGLES". International Conference on Coastal Infrastructure Development - Challenges in the 21st Century. HongKong, november 2004. 87. Ir. M. Zwanenburg , Dr. Ir. S.A. Miedema , Ir J.D. Holstein , Prof.ir. W.J.Vlasblom, "REDUCING THE DAMAGE TO THE SEA FLOOR WHEN DREDGING COCKLE SHELLS". WEDAXXIV & TAMU36, Orlando, Florida, USA, July 2004. 88. Verheul, O. & Vercruijsse, P.M. & Miedema, S.A., "A new concept for accurate and efficient dredging in deep water". Ports & Dredging, IHC, 2005, E163. 89. Miedema, S.A., "Scrapped?". Dredging & Port Construction, September 2005. 90. Miedema, S.A. & Vlasblom, W.J., " Bureaustudie Overvloeiverliezen". In opdracht van Havenbedrijf Rotterdam, September 2005, Confidential. 91. He, J., Miedema, S.A. & Vlasblom, W.J., "FEM Analyses Of Cutting Of Anisotropic Densely Compacted and Saturated Sand", WEDAXXV & TAMU37, New Orleans, USA, June 2005. 92. Miedema, S.A., "The Cutting of Water Saturated Sand, the FINAL Solution". WEDAXXV & TAMU37, New Orleans, USA, June 2005. 93. Miedema, S.A. & Massie, W., "Selfassesment MSc Offshore Engineering", Delft University of Technology, October 2005. 94. Miedema, S.A., "THE CUTTING OF WATER SATURATED SAND, THE SOLUTION". CEDA African Section: Dredging Days 2006 - Protection of the coastline, dredging sustainable development, Nov. 1-3, Tangiers, Morocco. 95. Miedema, S.A., "La solution de prlvement par dsagrgation du sable satur en eau". CEDA African Section: Dredging Days 2006 - Protection of the coastline, dredging sustainable development, Nov. 1-3, Tangiers, Morocco. 96. Miedema, S.A. & Vlasblom, W.J., "THE CLOSING PROCESS OF CLAMSHELL DREDGES IN WATER-SATURATED SAND". CEDA African Section: Dredging Days 2006 - Protection of the coastline, dredging sustainable development, Nov. 1-3, Tangiers, Morocco. 97. Miedema, S.A. & Vlasblom, W.J., "Le processus de fermeture des dragues benne preneuse en sable satur". CEDA African Section: Dredging Days 2006 - Protection of the coastline, dredging sustainable development, Nov. 1-3, Tangiers, Morocco. 98. Miedema, S.A. "THE CUTTING OF WATER SATURATED SAND, THE SOLUTION". The 2nd China Dredging Association International Conference & Exhibition, themed 'Dredging and Sustainable Development' and in Guangzhou, China, May 17-18 2006. 99. Ma, Y, Ni, F. & Miedema, S.A., "Calculation of the Blade Cutting Force for small Cutting Angles based on MATLAB". The 2nd China Dredging Association

International Conference & Exhibition, themed 'Dredging and Sustainable Development' and in Guangzhou, China, May 17-18 2006. 100. ," " (download). The 2nd China Dredging Association International Conference & Exhibition, themed 'Dredging and Sustainable Development' and in Guangzhou, China, May 17-18 2006. 101. Miedema, S.A. , Kerkvliet, J., Strijbis, D., Jonkman, B., Hatert, M. v/d, "THE DIGGING AND HOLDING CAPACITY OF ANCHORS". WEDA XXVI AND TAMU 38, San Diego, California, June 25-28, 2006. 102. Schols, V., Klaver, Th., Pettitt, M., Ubuan, Chr., Miedema, S.A., Hemmes, K. & Vlasblom, W.J., "A FEASIBILITY STUDY ON THE APPLICATION OF FUEL CELLS IN OIL AND GAS SURFACE PRODUCTION FACILITIES". Proceedings of FUELCELL2006, The 4th International Conference on FUEL CELL SCIENCE, ENGINEERING and TECHNOLOGY, June 19-21, 2006, Irvine, CA. 103. Miedema, S.A., "Polytechnisch Zakboek 51ste druk, Hoofdstuk G: Werktuigbouwkunde", pG1-G88, Reed Business Information, ISBN-10: 90.6228.613.5, ISBN-13: 978.90.6228.613.3. Redactie: Fortuin, J.B., van Herwijnen, F., Leijendeckers, P.H.H., de Roeck, G. & Schwippert, G.A. 104. MA Ya-sheng, NI Fu-sheng, S.A. Miedema, "Mechanical Model of Water Saturated Sand Cutting at Blade Large Cutting Angles", Journal of Hohai University Changzhou, ISSN 1009-1130, CN 32-1591, 2006. , [1] [1] S.A.Miedema[2], -2006203 -59-61 105. Miedema, S.A., Lager, G.H.G., Kerkvliet, J., An Overview of Drag Embedded Anchor Holding Capacity for Dredging and Offshore Applications. WODCON, Orlando, USA, 2007. 106. Miedema, S.A., Rhee, C. van, A SENSITIVITY ANALYSIS ON THE EFFECTS OF DIMENSIONS AND GEOMETRY OF TRAILING SUCTION HOPPER DREDGES. WODCON ORLANDO, USA, 2007. 107. Miedema, S.A., Bookreview: Useless arithmetic, why environmental scientists can't predict the future, by Orrin H. Pilkey & Linda Pilkey-Jarvis. Terra et Aqua 108, September 2007, IADC, The Hague, Netherlands. 108. Miedema, S.A., Bookreview: The rock manual: The use of rock in hydraulic engineering, by CIRIA, CUR, CETMEF. Terra et Aqua 110, March 2008, IADC, The Hague, Netherlands. 109. Miedema, S.A., "An Analytical Method To Determine Scour". WEDA XXVIII & Texas A&M 39. St. Louis, USA, June 8-11, 2008. 110. Miedema, S.A., "A Sensitivity Analysis Of The Production Of Clamshells". WEDA XXVIII & Texas A&M 39. St. Louis, USA, June 8-11, 2008. 111. Miedema, S.A., "An Analytical Approach To The Sedimentation Process In Trailing Suction Hopper Dredgers". Terra et Aqua 112, September 2008, IADC, The Hague, Netherlands. 112. Hofstra, C.F., & Rhee, C. van, & Miedema, S.A. & Talmon, A.M., "On The Particle Trajectories In Dredge Pump Impellers". 14th International Conference Transport & Sedimentation Of Solid Particles. June 23-27 2008, St. Petersburg, Russia. 113. Miedema, S.A., "A Sensitivity Analysis Of The Production Of Clamshells". WEDA Journal of Dredging Engineering, December 2008.

114. Miedema, S.A., "New Developments Of Cutting Theories With Respect To Dredging, The Cutting Of Clay And Rock". WEDA XXIX & Texas A&M 40. Phoenix Arizona, USA, June 14-17 2009. 115. Miedema, S.A., "A Sensitivity Analysis Of The Scaling Of TSHD's". WEDA XXIX & Texas A&M 40. Phoenix Arizona, USA, June 14-17 2009. 116. Liu, Z., Ni, F., Miedema, S.A., Optimized design method for TSHDs swell compensator, basing on modelling and simulation. International Conference on Industrial Mechatronics and Automation, pp. 48-52. Chengdu, China, May 15-16, 2009. 117. Miedema, S.A., "The effect of the bed rise velocity on the sedimentation process in hopper dredges". Journal of Dredging Engineering, Vol. 10, No. 1 , 10-31, 2009. 118. Miedema, S.A., New developments of cutting theories with respect to offshore applications, the cutting of sand, clay and rock. ISOPE 2010, Beijing China, June 2010. 119. Miedema, S.A., The influence of the strain rate on cutting processes. ISOPE 2010, Beijing China, June 2010. 120. Ramsdell, R.C., Miedema, S.A., Hydraulic transport of sand/shell mixtures. WODCON XIX, Beijing China, September 2010. 121. Abdeli, M., Miedema, S.A., Schott, D., Alvarez Grima, M., The application of discrete element modeling in dredging. WODCON XIX, Beijing China, September 2010. 122. Hofstra, C.F., Miedema, S.A., Rhee, C. van, Particle trajectories near impeller blades in centrifugal pumps. WODCON XIX, Beijing China, September 2010. 123. Miedema, S.A., Constructing the Shields curve, a new theoretical approach and its applications. WODCON XIX, Beijing China, September 2010. 124. Miedema, S.A., The effect of the bed rise velocity on the sedimentation process in hopper dredges. WODCON XIX, Beijing China, September 2010.