Determination of soil parameters based on the operational data of a ground operated tracked vehicle

For poly-metallic nodule mining in water depths up to 6000 m, a current concept of mining is based on tracked vehicles comparable to land operated caterpillars. Therefore the knowledge and understanding of the interaction between the dynamic behaviour of the mining machine and the soil properties are essential. For this reason a method is presented to deduct soil mechanical parameters from the actual operation data of the vehicle. A brief introduction of the calculation of the vehicles' traction force and driving resistances is given. Furthermore, an overview is presented about the vehicles parameters to be measured to derive soil parameters.