... ABSTRACT In the trenching, one of the working targets of underwater construction robots, a long ditch for cable laying is dug by rotational torque of the trenching cutter generated by the force of bringing the trenching cutter into contact with the underwater ground. This contact force...

... tugboat arrangement captain current velocity prefabrication yard contact force selection rehearsal bridge project mooring system tunnel trench installation tunnel element immersion rig subsea system time slot operation From Mooring to Mooring: The Critical Issues of Out-docking, Towing...