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Design of Hardware-In-the-Loop Simulation(HILS) of Control and Monitoring System for Deep-Seabed Manganese Nodule Miner Soung-Jea Park, Tea-Kyeong yeu, Sup Hong, Jong-Su Choi and Hyung-Woo Kim Ocean Engineering Research Division, Maritime Ocean Engineering Research Institue, KORDI, Daejeon, KOREA Sang-Bong Kim Department of Mechanical Engineering, Pukyong National University, Busan, KOREA ABSTRACT A deep-seabed manganese nodule miner(DSNM) is being developed. DSNM consists of a tracked vehicle, nodule pick-up device, nodule crusher and so on, which are controlled remotely in real-time. This type miner has many sensors and actuators with embedded controller. Expansive, fragile and unique systems are hard to test. Hardware-in-the-loop simulation(HILS) can substantially lower the cost and save the time of testing. In this paper, we design a HILS of the control and monitoring system for DSNM, which aims at an efficient pre-test of the system design performance. KEY WORDS: HILS; DSNM; Real-time; Embedded controller INTRODUCTION The general deep-sea mineral resources are know as manganese nodule, manganese crust, undersea hydrothermal deposit which has nonferrous metal, and petroleum, natural gas and methane hydrate which used for energy resources. Petroleum and natural gas are already used but manganese crust and undersea hydrothermal deposit has been explored. Specially, manganese nodule has received resources. It consists of manganese, nickel, copper, cobalt which is necessary materials for hi-technology industry. To develop a mining system for deep-sea mineral resources like manganese nodules is a challenging task in ocean engineering. A deep-seabed manganese nodule miner(DSNM) system is composed of collecting system, lifting system and surface vessel. Commercial deep underwater mining is expected to be realized in the recent future because of depletion of mining resources from land. As a method for the deep underwater mining, self propelled vehicle aims at proper p