Liu, Z., Ni, F., Miedema, S.A.

, “Optimized design method for TSHD’s swell compensator, basing on modelling and simulation”.
International Conference on Industrial Mechatronics and Automation, pp. 48-52. Chengdu, China, May 15-16, 2009.

Optimized Design Method for TSHD’s Swell Compensator

Basing on Modeling and Simulation

LIU Zhi，NI Fusheng

S.A.Miedema
Engineering Research Center of Dredging Technology， Faculty of Marine and Transport Technology,
Hohai University at Changzhou Technical University Delft, the Netherlands
Jiangsu 213022, P. R. China [email protected]
[email protected]

Abstract—To optimize a swell compensator when a trailing

suction hopper dredger (TSHD) is dredging at sea, the
mathematical models were built about the effects of piston
force, the distance of the piston movement, the speed of the
piston movement, vessel motions and the cable-pulley system;
the mathematical models proved that reducing the variation of
cable tension force can lead to a smaller normal force on the
draghead from seabed, and the optimizing factors were found
as a result; then the factors were applied in modeling and
simulation by the software of ADAMS to make known the
multibody dynamic behavior of a TSHD; It is obvious that the
simulation results tallied closely with the mathematical model.
Keywords—swell compensator; optimized design; mathematical
model; modeling and simulation

I. INTRODUCTION
Maneuvering the digging tool (draghead) of a trailing
suction hopper dredger (TSHD) on a predetermined spot on
seabed demands an increasing degree of accuracy (Ni,
2004). The swell compensator, connecting the vessel with
the draghead via cable-pulley system, plays an important
role in the multibody dynamic behavior of the draghead. For
the successful operation when TSHD is dredging at sea, the
swell compensator is utilized to maintain continuous contact
between the seabed and the draghead of the suction pipe
system in order to guarantee a satisfactory output. Fig.1 Schematic diagram of swell compensator

II. MATHEMATICAL MODELS

A. Effect of piston force Fp
The swell compensator of TSHD is composed of an
oil-filled hydraulic cylinder which is connected with a
pressure vessel via a pipe, and there is air above the oil in In the balanced state, the pressure p0 multiplied by the
the pressure vessel (Fig.1). In the balanced state, the air piston surface area Ap equals to the gravity of the mass m .
pressure is p0 ,and air volume is V0 .When the dredger heaves p0 ⋅ Ap = m ⋅ g (1)
up suddenly, the draghead can not go up at the same time. When the mass m moves the distance of x , then the
Consequently, the draghead on the piston moves
changed volume of the air in the pressure vessel is
downwards, and hence V0 decreases. As a result, the air
ΔV = Ap ⋅ x . Then
pressure increases, the cable tension force Fc transferring to
p0 ⋅V0 n
the piston via the oil increases as well, then an opposite pV n = C → p = (2)
force on the piston is engendered to keep the draghead (V0 − Ap ⋅ x ) n
stable. Force acting on the piston Fp = p ⋅ Ap (3)
If the total stroke length is s , when the displacement is
small, the maximal and minimal distance of mass m

Copyright: Dr.ir. S.A. Miedema

 Liu, Z., Ni, F., Miedema, S.A., “Optimized design method for TSHD’s swell compensator, basing on modelling and simulation”.
International Conference on Industrial Mechatronics and Automation, pp. 48-52. Chengdu, China, May 15-16, 2009.

moving can be assumed as symmetric. It is xmin = s / 2 2

⎛ 4 x ⋅ Ap ⎞ ls
and xmax = − s / 2 .Then the pressure difference can be ∴Δp = ρ oil ⋅ ⎜ 2 ⎟
⋅ ⋅λ (12)
⎝ π ⋅ Ds ⎠ 2 Ds
∴Δp = pmax − pmin
D. Effect of ship’s motions
p0V0 n p0V0 n
= − (4)
(V0 − Ap ⋅ xmax ) (V0 − Ap ⋅ xmin ) n
n

p0 p0
= −
Ap s Ap s
(1 − )n (1 + )n
2V0 2V0
B. Effect of the distance of the piston movement
Swell compensator indeed is a hydro-pneumatic spring
(LIU, 2004). The spring stiffness of swell compensator is
dF
k = + p . Fp comes from the oil pressure acting on the
dx
piston, 1 < n < 1.4 , then
A ⋅ p ⋅V n
Fp = Ap ⋅ p = p 0 0 n (5)
(V0 − Ap ⋅ x )
n +1
dFp A 2 ⋅ n ⋅ p0 ⎡ ⎛ A x ⎞⎤ Fig.2 Forces on the lower part of suction pipe system
k=+ = p ⋅ ⎢1 ⎜ 1 − p ⎟ ⎥ (6)
dx V0 ⎣ ⎝ V0 ⎠ ⎦ Fig.2 presents a largely simplified situation of the static
The spring stiffness k is not a constant at all; it increases forces on the lower part of the suction pipe(LIU,2006).
with the distance of the piston movement x and vice versa. z Point D
In the balance state (assume x = 0 ), then k is a constant. Location of draghead, point of action of the reaction
A 2 ⋅ n ⋅ p0 force Br from the seabed on the draghead, the impulse force
k= p (7) Fme due to the change of fluid entering direction, FΔp due to
V0
Ap ⋅ n ⋅ p0 pressure difference over the draghead, and the frictional
And the pressure variation Δp = ⋅s (8) force F f between draghead and seabed.
V0
z Point P
C. Effect of the speed of the piston movement Location of draghead cable lug, point of action of cable
tension force Fc , resultant total hydrodynamic drag force
Actually the force acts on the oil in the pressure vessel is
Fd and submerged weight Ws of the suction pipe lower
also dependent on the speed of the piston movement. When
the speed is x , there will be a pressure variation Δp . section, filled with mixture.
z Point S
For the Laminar fluid flow theory, the transferred oil in
Location of hinge (gimbal) between upper and lower part
the pipe and the vessel (Blevins,1984).
of flexible suction pipe, point of action of the hinge forces
π ⋅ Ds 4 ⋅ Δps S x and S y are in x-axes and y-axes directions.
Qs = x ⋅ Ap = (9)
128 ⋅ μoil ⋅ ls From Newton Law:
Qs is flow rate, m3/s; Ds is pipe diameter, m; ls is pipe
∑ M s = Fc ⋅ l1 ⋅ cos(α − β ) + Fd ⋅ l1 ⋅ sin α + Br ⋅ (l1 + l2 ) (13)
length, m; μoil is oil dynamic viscosity, N · s/m2; Δp is
⋅ cos α + Fs ⋅ (l1 + l2 ) ⋅ sin α − Ws ⋅ l1 ⋅ cos α = c
pressure variation in the pipe, N/m2.
α , β , l1 and l2 are geometrical constants for a certain lay
So the pressure variation in the swell compensator pipe,
x ⋅ Ap ⋅ 128 ⋅ μoil ⋅ ls out and dredging depth. The total drag force Fd and the total
Δp = (10) weight Ws are assumed to act as single forces at the location
π ⋅ Ds 4
When the turbulence happens in the pipe, the Reynold of the cable-pulley. The moment of the forces Fme and
coefficient Re > 2300 , ν oil = μoil / ρ oil is kinemic viscosity; FΔp about point S is assumed to be negligible for this
λ is the friction factor along the pipe, then consideration. These forces can be determined simply by
x ⋅ Ap applying the linear momentum equation to a control volume
∵ voil = 4 (11) in the draghead. By replacing Fs by f s ⋅ Br , then
π ⋅ Ds 2

Copyright: Dr.ir. S.A. Miedema

 Liu, Z., Ni, F., Miedema, S.A., “Optimized design method for TSHD’s swell compensator, basing on modelling and simulation”.
International Conference on Industrial Mechatronics and Automation, pp. 48-52. Chengdu, China, May 15-16, 2009.

∑M s = Fc ⋅ l1 ⋅ cos(α − β ) + Fd ⋅ l1 ⋅ sin α + Br ⋅ (l1 + l2 )

(14)
tension force at the point that suction pipe tends to move
upwards; Fc max is the maximum tension force at the point that
⋅(cos α + f s ⋅ sin α ) − Ws ⋅ l1 ⋅ cos α = 0
suction pipe tends to move downwards.
By setting Fd and Ws constant, the occurring variation of the As there is a difference between the tension forces in the
seabed pressure of the draghead are be calculated as follows. two parts of a cable moving over a pulley. The ratio of these
1) When the suction pipe tends to move upwards, forces q is a measure for the mechanical efficiency of the
l +l cos α + f s ⋅ sin α cable-resistance of the cable and friction in the bearing of
Fc + Br ⋅ ( 1 2 ) ⋅ ( )=C (15)
l1 cos(α − β ) the pulley.The value q is dependent on the friction
2) When the suction pipe tends to move downwards, coefficient between the pulley and cable, and also depends
on the moving velocity of cable. The typical value of q is
l +l cos α + f s ⋅ sin α
Fc ' + Br ' ⋅ ( 1 2 ) ⋅ ( )=C (16) 1.05.
l1 cos(α − β )
1) When q = 1 (without resistance and friction between
(16) – (15), then the pulleys and the cables)
l +l cos α + f s ⋅ sin α Fc min = Fc max = Fc = F1 + F2 = Fp = F3 + F4 (19)
( Fc − Fc ' ) + ( Br − Br ' ) ⋅ ( 1 2 ) ⋅ [ ] = 0 (17)
l1 cos(α − β ) 2) When q ≠ 1 (with resistance and friction between the
It means that the possible variation of normal force from pulleys and the cables)
seabed to draghead ΔB = B − B ' without correction by the 1 1 1 1
swell compensator depends on the maximum possible cable F1 = F1 , F2 = F1 , F3 = 2 F1 , F4 = 3 F1 , F5 = 4 F1 (20)
q q q q
tension force variation ΔFc = Fc − Fc' ,the length ratio l1 / l2 ,
1
angles α , β and the factor f s for the friction between Fc min = F1 + F2 = (1 + ) F1 (21)
q
draghead and seabed. Then
1 1
ΔB l +l cos α + f s ⋅ sin α Fp = ( 3 + 4 ) F1 (22)
= ( 1 2 ) ⋅[ ] (18) q q
ΔFc l1 cos(α − β )
∵ F1' = F1' , F2 ' = qF1' , F3' = q 2 F1' , F4 ' = q 3 F1' , F5' = q 4 F1' (23)
E. Effect of the cable- pulley system ∴ Fc max = F1' + F2 ' = (1 + q) F1' (24)
Due to the mechanical inefficiency of the cable-pulley Fp = ( q + q ) F
' 3 4
1
'
(25)
system, the cable tension force Fc can vary quite much when the force on the piston of swell compensator Fp is
without being sensed (and hence without correction) by the constant, the relationship between the tension forces on the
swell compensator. For this purpose a simple sketch of cables can be expressed as
cable-pulley system is made in Fig.3.
⎛ 1 ⎞
1+
Fc max ⎛ q + 1 ⎞ ⎜ q ⎟ 1
=⎜ 3 Fp ⎟ ⎜ F'p ⎟ = 6 (26)
Fc min ⎝ q + q ⎠ ⎜ 1 + 1
4
⎟ q
⎜ q3 q4 ⎟
⎝ ⎠
As the motion of the swell compensator is continuous,
Fc will vary continuously between its maximum and
minimum value.
⎧ Fc max 1
⎪F = 6
q
⎪⎪ c min
∵ ⎨ ΔFc = Fc max − Fc min (27)
⎪ F + Fc min
⎪ FP = c max
⎪⎩ 2
1 − q6 1 − q6 π
Fig.3 Cable- pulley system of swell compensator ∴ΔFc = 2 ⋅ ⋅ Fp = ⋅ p⋅ ⋅d2 (28)
1+ q 6
1+ q 6
2
So the variation of tension forces in the cables connected
In Fig.3, Fc (1,2,3,4,5) is the tension forces in cables to the lower part of the suction pipe is greatly influenced by
(1,2,3,4,5) at the point that the suction pipe tends to move the value of q , the set-point pressure p and piston diameter
upwards; F ' c (1,2,3,4,5) is the tension forces in cables (1,2,3,4,5) d of the swell compensator.
the suction pipe tends to move downwards; Fp is the force on
the piston of the swell compensator; Fc min is the minimum

Copyright: Dr.ir. S.A. Miedema

 Liu, Z., Ni, F., Miedema, S.A., “Optimized design method for TSHD’s swell compensator, basing on modelling and simulation”.
International Conference on Industrial Mechatronics and Automation, pp. 48-52. Chengdu, China, May 15-16, 2009.

III. MAIN CRITERIA FOR SWELL COMPENSATOR’S A. Main data for modeling
OPTIMIZED DESIGN AND OPERATION A twin screw trailing suction hopper dredger (hopper
capacity is 5250 m3) is used as an example for ADAMS
From (4), (8), (12), (17) and (28), It can be seen that in
modeling. The main data for the model are as follows:
order to reduce the variation in cable tension force and hence
Suction pipe is Φ 900╳16 mm; Waterjet is Φ 323.9╳
the normal force from seabed acting on draghead, the
7.1 mm; draghead is IHC draghead with blades and gratings;
following can be done for optimizing.
seawater density is ρ w = 1025 kg/m3; flow velocity of the
z When the constant value Ap s 2V0 is bigger, pmax is
sand-water mixture in the suction pipe is average 4 m/s;
bigger, pmin is smaller. As a result, Δp is bigger. In density of sand-water mixture in suction pipe
practice, the stroke length s is fixed, so the pressure is ρ w = 1600 kg/m3; suction bend length l0 = 2.925 m; upper
difference Δp can be reduced via decreasing the piston pipe length l1 = 20.65 m; lower pipe length l2 = 3.225 m;
surface area Ap and increasing the air volume V0 in draghead pipe length l3 = 10.850 m; draghead length is 1 m,
the pressure vessel; breadth is 2.5 m; rotational joint angle is set at 30
z Design the cable-pulley system for a low- q -value. It
between the upper pipe mass center (CM) and the vessel CM;
requires large pulley diameter to cable diameter ratios, hooke joint angle is 45 between the lower pipe CM and the
well lubricated bearing and a flexible cable; vessel CM; stroke of compensator cylinder is 2.0 m;
z The number of pulleys between the swell compensator compensation factor of swell compensator is 0.8; original
and suction pipes should be kept as small as possible; draghead cable length is 27.485 m; original upper pipe cable
π length is 16.15 m; resistant coefficient perpendicular to the
z Design and operate with low Fp = p ⋅ d 2 values.
4 circle pipe Cd is 1.5; friction angle of the soil is 40 .
This could be achieved by working with high drag
pressures, light draghead pipe and draghead;
z Select a favorable ratio of l1 / l2 ;
z Select a favorable kind of oil with lower density and
lower viscosity;
z High manufacture quality of the pipe connected with
the pressure vessel and piston vessel to decrease the
friction factor along the pipe λ ; decreasing the pipe
length ls and increase the pipe diameter d s can reduce
the pressure variation.

IV. MODELING AND SIMULATION BY ADAMS

The software of ADAMS can perform mechanical
system simulation. It can construct virtual prototypes of
mechanical systems using rigid components, joints,
compliant connections and applied loads, perform static,
kinetic and dynamic tests on virtual prototypes of
mechanical systems, and investigate the results of virtual
tests via animation and plotting (Pytel and Kiusaiaas, 2001).

Fig.5 Modeling of a trailing suction hopper dredger

B. Simulation
1) Define the vessel motions of TSHD
In this case, six motions of the vessel are considered,
they are three linear movements of surging, heaving and
swaying and three angular movement of rolling, pitching
and yawing (Blagoveschensky,1962). Here, heaving height
at sea is 1.25 m, heaving velocity changes from +0.25 m/s to
Fig.4 Virtual prototyping process with ADAMS –0.25 m/s in 0.01 s every 5 s; Swaying velocity ranges from

Copyright: Dr.ir. S.A. Miedema

 Liu, Z., Ni, F., Miedema, S.A., “Optimized design method for TSHD’s swell compensator, basing on modelling and simulation”.
International Conference on Industrial Mechatronics and Automation, pp. 48-52. Chengdu, China, May 15-16, 2009.

+0.5m/s to –0.5 m/s every 4π s; Rolling and pitching z The blue dashed line is the draghead position after the
velocities range from 0.01 rad /s; period is 4.188 s;yawing swell compensator is optimized in the early stage
velocity ranges from 0.01 rad/s, period is 8.376 s. according to the mathematical model. Now the
2) Define the seabed profile draghead keep almost constant contact with the seabed
In y (vertical) direction the peak height is 1.5m, the slope even the vessel heaves up and down, but it still jumps a
little bit when the vessel heaves suddenly;
angle is 34.2 ; In z (horizental) direction, the peak height is
z The red straight line means the draghead position after
0.5m, the slope angle is 68.6 . the swell compensator is optimized completely. With
3) Phenomena and simulation results the help of the optimized swell cmpensator, the
Under a certain vessel movement (top plot) and seabed draghead keeps contact with the seabed. It is obvious
profile in vertical direction (middle plot), Fig.6 is used to that the dredging process is most stable and safe when
describe the draghead dynamic behavior before and after the the TSHD is dredging at sea in hard nature conditions.
optimized designing of a swell compensator (bottom plot):
z The red dash dot line is the draghead position before V. IN THE END
the swell compensator is optimized. The draghead is
not stable with too much variation of normal force The simulation results tally closely with the analyzing
from seabed to draghead ΔB . In this situation, not results from the mathematical model.
only the product capacity will be influenced, but also In the future, the most important work is to apply the
the draghead will meet the danger of being damaged methods of optimizing a swell compensator in designing and
along with draghead jumping on the seabed; make a good use of it in practice.

Fig.6 Draghead position under a certain vessel movement and seabed profile with different swell compensator

[3] Heggeler, O. W. J. T., P. M. Vercruijsse, and S. A. Miedema, 2001. On

ACKNOWLEDGEMENT the Motions of Suction Pipe Constructions a Dynamic Analysis. Proc.
WODCON XVI, Kuala Lumpur, Malaysia, 8B-1- 8B-13.
The authors are grateful to Dr. S. A. Miedema from Delft [4] Liu, Z., and J. B. Jiang, 2006. Virtual simulation of TSHD dredging
University of Technology, C. Zondag from IHC Holland NV process basing on ADAMS. J. New Technology & New Process, (1):
and K.W.Yuen from Van ord (Shanghai) for their valuable 69-71 (In Chinese).
comments and suggestions. Thanks also given to Prof. Dr. [5] Miedema, S. A., 1999. Considerations in building and using dredge
F.S.Ni for supplying the lab for the research. This work is simulators. Proc. of the Western Dredging Association Nineteenth
supported by grant No. 05B004-01 from an open fund Technical Conference and Thirty-first Texas A&M Dredging Seminar,
87-103.
project of Engineering Research Center of Dredging
[6] Ni, F. S., 2004. Review of the dredging equipments development in the
Technology, Ministry of Education, China. world. J. Hohai Univer., Changzhou, 18(1): 1-9 (In Chinese).
[7] Pytel, A., and J. Kiusaiaas, 2001. Engineering Mechanics Dynamics.
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York, 1962

Copyright: Dr.ir. S.A. Miedema

 Bibliography Dr.ir. S.A. Miedema 1980-2010
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(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
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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
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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
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Dutch). Published: The Hague, 18-9-1984, KIVI Lectures, Section Under Water
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8403418, Hydromeer B.V. Oosterhout, 1984.
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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
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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
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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.
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Suction Dredge (Adobe Acrobat 4.0 PDF-File 1.5 MB)". Terra et Aqua No. 41,
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the Cutting of Clay (Adobe Acrobat 4.0 PDF-File 640 kB)". Proc. WODCON XIII,
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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. (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))". 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 prélèvement par désagrégation du sable saturé 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 à benne
preneuse en sable saturé". 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.
绞刀片大角度切削水饱和沙的力学模型, 马亚生[1] 倪福生[1] S.A.Miedema[2],
《河海大学常州分校学报》-2006年20卷3期 -59-61页
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 TSHD’s 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.