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analysis angle approach Arctic average breaking calculated characteristics coefficient component compressive concentration considered crack depends determined developed direction displacement distribution dynamic effect Engineering equation estimated experiments factor failure field Figure floe force hull ice conditions ice cover ice floes ice force ice loads ice sheet ice thickness icebreaking included increase interaction International Japan length level ice maximum mean measured mechanism method mode model tests mooring motion navigation Northern observed obtained offshore operating parameters performance period plate present pressure propeller range ratio region relative Report Research resistance response ridge salinity samples scale sea ice Sea Route segment shape ship shown shows simulation speed strength stress structure surface Table tanker Technology temperature tests transportation values vessel width zone