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By Mikhail D. Ageev

The paper concerns with some questions of Autonomous Underwater Vehicle (AUV) control system design, which allows a motion at rough undersea terrain. The AUV advantages reveal itself completely during exploration of such objects as seamounts and reefs area. These objects are characterized by steep slopes (30 degrees and above) and chaotic situated obstacles (rock debris, pinnacles, escarpments). Uses of other technical facilities for operating in such formations are difficult, dangerous or impossible. These regions take an interest due to the presence of iron-manganese crusts. Modern AUV can estimate density of mineral by means of still camera or video recorder. For this reason the vehicle has to move with the distance of 3-5 meters from seabed. Under such conditions micro- and mesorelief presents a considerable danger for AUV. The AUV can bypass underwater obstacles in the various ways. However, in any case AUV motion will be characterized by intensive maneuvering on various speed (from 0 up to 1.5 m/s), circular change of tractive force vector and, hence, a circular flow about the hull. So, AUV is equipped with the propulsion system, which provides free modes of motion. AUV control system (CS) has tri-level structure to allow a motion in a rugged seabed terrain. According to the generally accepted categorizations, CS includes execution, coordination and strategic levels. The strategic level contains the goals of AUV mission. Obstacles avoiding and route choice are realized by means of simultaneous maneuver in vertical and horizontal planes. Sonar system is used for data acquisition about obstacles. It consists of a few echo-sounders with fixed directivity pattern. The route choice algorithm operates at two lower levels of CS. Basic (?reflex?) functions of spatial motion are realized within the execution level and considered in the paper. The choice of motion modes is carried out at the coordination level of system. All accessible navigating information (the data from flight sensors and from multichannel echo-sounder systems) is used for this purpose. In addition the bypass of characteristic types of obstacles is carried out with the help of basic motion modes combination. The modeling results of bypass of various typical obstacles, and also their combinations are described in the paper.

Jan 1, 2011

By David Heydon

The big money is backing both manganese nodules and manganese crusts as the most likely deep ocean mining development by 2010, but seafloor massive sulphides of copper/gold/zinc offer an alternative bet for a start-up by 2010. A study of the ?form guide? or comparison of these resources provides direction on which resources are economic candidates for commercial deep ocean mining development by 2010. This paper covers the commercial and technical issues of exploration, resource definition, drilling/sampling, sea bed mining options, mine plans, environmental issues, legal tenure and capital and operating costs (i.e., profitability) of these two mineral types. Nautilus Minerals has just completed a pre-feasibility engineering study of mining sea floor massive copper/gold/zinc sulphides at 2,000 m depth. The Nautilus study reviewed a range of mining and lifting options, settling on tracked continuous drum cutter miners to produce 2 million tons per annum of high grade ore. Capital costs are shown to be at least 30% lower than a land based copper mine of the same production capacity. Likewise 75% of world?s copper would be produced at a higher operating cost that the proposed seafloor mine. This paper then draws on the Nautilus study for comparison with earlier feasibility studies by others on manganese nodule mining to predict the likely directions in deep ocean mining to 2010.

Jan 1, 2004

By Steinar L. Ellefmo, Thomas Kuhn

The deep-sea ocean floor offers a great potential for mineral resources. The evaluation of these resources is both time consuming and costly and require as any resource evaluation data; geodata. The collection of hard data, physical samples, is of course preferred because the associated uncertainty is low. However, the collection of soft data or image derived data can offer a valuable supplement. In this paper image derived nodule uncertain abundance data from an area in the Pacific is utilized. Implementing these uncertain data improves the estimation when the quality of the estimation is measured using the classification indicators like the kriging standard deviation, the relative prediction error, the slope of regression and the weight of the mean. It is concluded that uncertain data is better than no data. INTRODUCTION The deep-sea offers vast mineral resources (Cathles (2011), Hannington et al. (2011), Hannington (2013), Singer (2014)). A mineral resource can according to increasing geological confidence be classified as an inferred, an indicated or a measured resource. The classification is performed by a competent- or qualified person and is dependent on the amount, quality and characteristic of available geodata. The competent person must have at least five years of experience relevant to both the style of mineralisation, the type of deposit and the performed task. Typical examples of a “task” is for example resource estimation and classification or planning- and execution of exploration activities and presentations of the results. The competent person must also be a member or a fellow of a professional organisation and thereby be bound by reporting code (-s) that defines minimum standards, recommendations and guidelines for public reporting.

Jan 1, 2018

By Paulo Chaves, Márcia Gonçalves, João R. S. Carvalho, Fernando J. A. S. Barriga, Edgar Carrolo, Tiago Luna, Ricardo Rato, Anabela Bento

INTRODUCTION For the last decades, deep-sea marine resources such as seabed massive sulfides (SMS), polymetallic nodules and ferromanganese crusts (Fe-Mn crusts) have received an ever- increasing amount of attention worldwide for their abundance in critical metals and potential commercial value. This interest has mostly been driven by the growing world demand for raw materials, in particular for high- and green-technology applications (e.g., hybrid and electric cars, batteries, photovoltaic solar cells, cell phones, super magnets), as well as by industrialized countries governments other than BRICS states need to secure a more diversified supply of metals, resulting in a new deep ocean exploration boom. Since the oceans and its resources are increasingly seen as indispensable for humans needs and their challenges in the decades to come, this boom increments pressure on marine areas, either in international or within countries economic exclusive zone (EEZ). Since 2002, the International Seabed Authority (ISA) has signed up 29 contracts with several entities and national governments from multiple countries (e.g., Japan, China, Germany, France, Russia, India, Rep. of Korea, UK, Canada, Brazil) for exploration for deep-sea mineral resources in international waters, either for scientific or commercial proposes, which together cover over 1.3 million km2 [1]. In turn, over 300 exploration licenses, covering more than 650,000 km2, have been granted within the EEZ of Pacific countries such as Papua New Guinea, Tonga, Fiji, Solomon Islands and Vanuatu [2, 3]. This number is expected to increase very rapidly, as 77 countries have proposed to the United Nations the extension of their continental shelf in order to extend their EEZ and jurisdiction over potential deep-sea mineral resources [4]. Its estimated that 42% of the potential areas for SMS occurrences, 54% for cobalt-rich Fe-Mn crusts, and 19% for polymetallic nodules lie within the EEZ of coastal countries [5]. In addition, a huge amount of seafloor is yet to be explored and evaluated. Combined, the size of the granted exploration areas represents less than 10% of the overall area thought as most favorable for the occurrence of the 3 types of deep-sea mineral resources above mentioned. This means that today’s assessments on deep-sea mineral resources are only a rough approximation.

Jan 1, 2018

By Mikhail D. Ageev

The paper concerns with some questions of Autonomous Underwater Vehicle (AUV) control system design, which allows a motion at rough undersea terrain. The AUV advantages reveal itself completely during exploration of such objects as seamounts and reefs area. These objects are characterized by steep slopes (30 degrees and above) and chaotic situated obstacles (rock debris, pinnacles, escarpments). Uses of other technical facilities for operating in such formations are difficult, dangerous or impossible. These regions take an interest due to the presence of iron-manganese crusts. Modern AUV can estimate density of mineral by means of still camera or video recorder. For this reason the vehicle has to move with the distance of 3-5 meters from seabed. Under such conditions micro- and mesorelief presents a considerable danger for AUV. The AUV can bypass underwater obstacles in the various ways. However, in any case AUV motion will be characterized by intensive maneuvering on various speeds (from 0 up to 1.5 m/s), circular change of tractive force vector and, hence, a circular flow about the hull. So, AUV is equipped with the propulsion system, which provides free modes of motion.

Jan 1, 2003

By A. A. Schipaanboord, S. J. Dasselaar

"With the growing global demand for strategic metals, commodity prices are rising and the scarcity of some metals is increasing. Europe’s technology sector is also affected by this growing shortage of metals. Securing the supply of critical metals is now a major element in Europe’s economic strategy. The Blue Mining and Blue Nodules projects have been initiated to principally advance deep sea mining technology beyond current TRL-levels.These critical metals are found inside so-called “polymetallic nodules”, lying on the seafloor in deep-sea environment. These nodules have a typical abundance of 10-25 kg/m2 and a size range of 10-125 mm.Harvesting the polymetallic nodules is challenging. Two main methods of harvesting or collector equipment are distinguished: hydraulic and mechanical. Over the last year, Royal IHC has designed, build and tested a full-scale hydraulic collector. Meanwhile, a mechanical collector is being developed.First, a scaled version of the hydraulic collector was developed and tested in order to have a proof of principle. The development as well as optimization were aided by multiphase CFD simulations."

Jan 1, 2017

By Peter M. Herzig

In September-October 2002, shallow seafloor drilling using the 5 m-Rockdrill of the British Geological Survey and the German R/V Sonne has revealed critical information on the sub-surface nature of two distinct hydrothermal systems in the New Ireland fore-arc and the Manus Basin of Papua New Guinea. Drilling at the summit plateau of Conical Seamount (39 holes, 31 % recovery) south of Lihir Island in the central New Ireland fore-arc has confirmed the sub-seafloor extend of previously discovered surface gold mineralization (up to 230 g/t Au) and associated alteration to a depth of at least 4.5 m below the seafloor and further proven analogies to the giant Ladolam epithermal gold deposit on Lihir Island. Drill core samples of clay-silica alteration contain average gold grades up to 14.2 g/t Au over a length of about 30 cm (fire assay Lihir Gold Ltd. laboratory) and appear to be part of a more extensive gold zone located below a carapace of relatively fresh ancaramitic and trachybasalt. These samples contain a complex mineralogy including realgar, orpiment, galena, sphalerite, some chalcopyrite and pyrite, together with amorphous silica, and possibly cinnabar. In addition to high concentrations of gold, shipboard analyses indicate that the gold-rich samples contain high values of Pb, As, and Sb, which is a characteristic feature of a magmatic-hydrothermal style of mineralization and alteration.

Jan 1, 2002

By Robert Ditchburn

Within New Zealand?s extended EEZ there exists a vast submarine hydrothermal mineral resource associated with the Kermadec intra-oceanic arc. Along this arc more than thirty submarine volcanoes have been explored by GNS-lead researchers and, of these, c. 60% are known to be hydrothermally active and a site of active seafloor mineralisation. Assessment of whether this mineralisation is economically viable in terms of grade and tonnage is now underway. A key aspect of these investigations is determining the age of the mineralization which will have a direct bearing on its mode of formation, the time elapsed to amass an economic deposit and, ultimately, its capacity for sustainable extraction. Intact barite-rich ?black-smoker? chimneys similar to that depicted here (86 cm long) have been recovered from Brothers volcano in the southern part of the arc. These and other hydrothermal deposits provide evidence of active volcanic massive sulphide (VMS) mineralisation along the arc, the age of which can be determined from the disequilibrium between isotopes within the thorium or uranium decay chains. A chimney from Mariana arc has also been dated using these radiometric methods. The principle dating technique for chimneys up to 15,000 years old uses the decrease in 226Ra/Ba due to radioactive decay after the VMS was deposited. An initial ratio is obtained from chimneys that are proven to be less than 100 years old and this involves dating with 210Pb, 228Ra and 228Th that have short half-lives compared with 226Ra.

Jan 1, 2005

By Jan M. Peter

Many massive sulfide deposits and districts around the World contain rocks that are variously referred to as ?exhalites?, banded iron formation (IF), ?Algoma-type? IF, ferruginous chert, jasper, jasperoid, cherty tuff, tuffite, tuffaceous exhalite, chloritic IF or sulfide IF. With few exceptions, such rocks are thought to be (in part) fossil hydrothermal sediments deposited from hydrothermal fluids vented into a submarine rift environment. Such hydrothermal sediments are associated with a wide variety of ancient base-metal sulfide deposits (e.g., Cyprus-, Besshi-, Kuroko-, and Broken-Hill-type deposits), and hydrothermal sediments are commonly associated with some of the largest base metal sulfide deposits in the world. Analogs of ancient hydrothermal sediments can be found around many modern seafloor hydrothermal deposits which themselves precipitate from high-temperature (350°-400°C) hydrothermal fluids. Hydrothermal fluids are quenched on contact with ambient seawater, and most of the metals are immediately precipitated to form the mound and chimney deposits. However, for kinetic and solubility reasons, not all metals and other species are immediately precipitated at the vent site. Fine particles (up to several hundred microns in diameter) of sulfides, sulfates, carbonates, oxides, silica, Fe-oxyhydroxides, clays, and other phases are precipitated from the hydrothermal fluids in the water column above the deposits. These particles or "particulates" are carried upward for several hundred meters in a buoyant hydrothermal plume (which is typically several hundred meters thick) until it reaches a neutral density, and disperses laterally from the vent site. Modelling of plume dynamics has shown that the majority of particulates are deposited by gravitational settling a few hundred meters from the vent site, and Å99% of particulates are deposited within 3 kilometers. However, signals from modern plumes have been detected even hundreds of kilometers from their source. Factors which can affect the morphology of the plume (and the resultant fallout pattern) include: particulate size, shape and density, bottom topography, and the direction and velocity of bottom currents.

Jan 1, 1998

By Teruyoshi Narita

In Japan, the Ministry of Economy, Trade and Industry (METI) commenced a research and development (R&D) project on seafloor massive sulphides (SMS) in Japan?s exclusive economic zone (EEZ) in the 2008 fiscal year. In this plan, the road map of Resource evaluation, environmental impact study, mining system technology and processing technology fields consisting of the first and second stage has been shown for the commercialization of SMS. Based on this road map, Japan Oil, Gas and Metals

Sep 14, 2011

By Tracy Shimmield

Deep sea tailings placement (DSTP) techniques have been pioneered in Papua New Guinea (PNG): a mining reliant economy in a seismically active region, facing major environmental challenges in the safe handling and storage of mine tailings on land. Scientists at SAMS have researched impacts of DSTP on the marine environment specifically to inform and develop guidelines for the use of DSTP to reduce environmental impact, thereby lowering risk and increasing private sector investment. Guidelines have been established as regulation by the PNG Government providing reassurance to private investors, facilitating an increase in mining exports to 60% of total export. Researchers investigated the effects of DSTP at 2 PNG mines: Lihir Gold Mine which has been actively discharging tailings since 1996 and Misima Mine, closed in 2004 after discharging tailings for 15 years, allowing an assessment of the recovery of the marine environment after tailings placement. Research involved investigating ocean currents and mixing, the behaviour of metals and the effect of tailings on benthic communities including the risk of elevated metal contents entering the food chain. The research established a metal ?fingerprint? of tailings compared to natural sediments, which enabled the transport of fine tailings within the deep ocean to be ascertained.

Sep 14, 2011

By S. Jeffress Williams

The topic area for this paper covers the United States portion of the northern Gulf of Mexico, extending from the Rio Grande delta east to the Florida peninsula. Declaration of an Exclusive Economic Zone in 1983 expanded Federal economic jurisdiction on the continental margins from 12 to 200 nautical miles seaward from the coast. The nation-wide area of the EEZ totals 3 million square nautical miles, with approximately 186 thousand square nautical miles in the Gulf of Mexico. In the Gulf, the continental shelf has an area of 81 thousand square nautical miles, extending to a depth of 600 ft. and having widths of 6 to 120 nautical miles. Specific areas on the shelf offer the greatest potential for containing aggregate and other hard mineral resources. The primary geomorphic features along the Gulf coast include: barrier islands, chenier plains, tidal inlets, bays and lagoons, estuaries, and deltaic headlands. These features are composed of terrigenous siliclastic sediments, except for the west Florida coast, south of 29°N latitude, which is dominated by carbonate sediments. On the shelf, the primary features are linear sand shoals and associated sand sheets, relict delta lobes and channels, and banks related to salt diapirs and coral reefs. The composition and distribution of sediments in these coastal and shelf features are determined by numerous geologic factors including: seabed topography; riverine sediment discharge; sediment dispersal patterns due to currents, waves, storms and tides; tectonics and subsidence; and repeated fluctuations in sea level.

Jan 1, 1986

By Hunsoo Choi, Sung Rock Lee, Ian J. Graham, Ian C. Wright

This is a part of the joint KIGAM-GNS-NIWA 3-year study of ferromanganese modules in the Campbell Nodule Field, east of Campbell Plateau to determine age distribution, growth rates and geochemical evolution in relation to geographic setting. The petrography, chemistry, inferred genesis, and 10Be/9Be dating of the nodules were described in the science report of GNS (Chang et al., 2003a, 2003b; Graham et al., 2003a) and presented at UMI (Chang et al., 2003c; Graham et al., 2003b). The morphology and distribution of ferromanganese nodules were also published in detail (Wright et al., 2005). This presentation is only concentrated on the mineralogy and chemistry of the nodules.

Aug 24, 2006

By William D. Siapno

Approximately a century lapsed between the time nodules were discovered and the beginning of commercial exploration in the early 1960's. A period of rapid development of exploration and mining technology ensued over most of the next two decades. In recent years advancement has been sharply curtailed. This paper discusses the constraints inhibiting nodule mining and some developments that could aid in overcoming certain difficulties. Specifically, the greatest single constraint is economic. With few exceptions mineral markets are badly depressed. Present projections for development of nodules are for the late 1990's or beyond. However, the U.S. awarded exploration licenses in mid-1984 and more recently boundaries of license areas have been released. These conditions promote cooperation among organizations engaged in deep ocean mining. Survey data, and where appropriate some data products, have been exchanged between various consortia. The present hiatus in at-sea activities provides an excellent opportunity to investigate the best means to proceed. This period of quiescence offers a rare moment to distill the meaningful values of an era of hectic activity to permit more efficient development in the future.

Jan 1, 1985

By S. W. Chang, James R. Hein, S-R. Lee, A. Zondervan, H. Choi

"Nine Fe-Mn nodules from the extensive nodule field in the east of Campbell Plateau of southwest Pacific Ocean beneath the Deep Western Boundary Current (DWBC) and Antarctic Circumpolar Current (ACC) were analyzed for the 10Be/9Be dating by AMS (Accelerator Mass Spectroscopy) at IGNS, New Zealand.Several types of nodule morphology were identified including distinctive discoidal forms with overgrowths resulting possibly from overcrowding and partial sediment burial. Five principal nodule facies were also recognized by location and occurrence (Fig. 1) (Wright et al., 2005). Fe-Mn nodules show various concentric internal growth textures, such as, cuspates, large parabolic cuspates, pseudo-columnar, columnar, globular, and laminated, which vary even in a nodule with hydrogenetic, early diagenetic, or mixed origin. Each texture shows micro-textural varieties and different mineralogy and/or chemistry. The genesis of each internal texture was indicated by the REE patterns, the mineralogy of Mnoxides, and the Mn/Fe ratios."

Jan 1, 2017

By Irina Melekestseva

The Cu-Zn massive sulfides from the basalt-hosted Semenov-2 hydrothermal field (13°31.13´ N, 44°59.03´ W, MAR) are enriched in Au (22?188 ppm) and Ag (127?1787 ppm) [Ivanov et al., 2008] and elevated contents (ppm) of Se (269?289), Sn (123?125), and Sb (72?75). These may indicate heterogeneous substrate rocks and possible ultramafic rocks. Based on phase analysis, 70% of the gold in the massive sulfides is free. LA-ICPMS analysis has shown that the main carrier of the invisible gold is covellite (22.51? 226.64 ppm). Covellite is also characterized by elevated contents of Se, Mo, Sn, Te, Au, Bi, As, Ag, Sb, Tl, and Pb relative to the primary sulfides.

Sep 14, 2011

By David S. Cronan

The traditional method of deep sea manganese nodule exploration is to conduct grid survey and sampling on successively finer scales until a suitable deposit has been delineated. Clearly this is both time consuming and ultimately self-defeating if large areas of the ocean floor are to be explored on a human timescale. A conceptual deductive approach would be preferable if one could be found, as it would aim to outline areas of potentially economic nodules on the basis of easily measurable oceanographic parameters. An attempt to achieve this aim in the Central Pacific is outlined below. Nodule Distribution in the Central Pacific Ocean Maps of ore grade nodules in the Central Pacific show that they are confined to two zones trending roughly east-west which are well separated in the eastern Pacific but which tend to converge towards 170-180ºW. They follow the isolines of intermediate biological productivity in the surface waters, strongly suggestive of a biological control on their distribution. Within these zones the nodules preferentially occupy basin areas. Thus they are found in the Penrhyn Basin, Tokelau Basin, Central Pacific Basin, Clarion Clipperton Zone and Tiki Basin. Nodules in all these areas have features in common and are thought to have obtained their distinctive composition by similar processes.

Jan 1, 2003

By Akira Usui

Fine-scale geochemical, mineralogical, and structural variations in ferromanganese crusts are believed to be the long-range records of paleoceanographic conditions and geological events on the small to global scales in the world oceans, which is useful in reconstructing marine environment. The chemical profiles of thick hydrogenetic ferromanganese crusts and nodules were determined by ICP/ES at 2-3 mm intervals at several locations over the Japanese Islands, Magellan Seamounts, Marshall Islands, and South Pacific Basins, together with Be-10 dating. We found general trend of Co enrichment (or high ratio of Co/Mn) in the upper layers of crusts, or outer layers of nodules, which formed in younger period probably after the late Miocene. This general trend of higher Co concentration in the surface may be true over the western to the Pacific, but local variations in growth patterns and shorter-range fluctuations in chemistry and structure were found as well. The growth rate is sometimes three times faster at the shallower depth even in a single seamount. The in-depth fluctuation of Co is well correlated with the ratios Mn/Fe ratio and Ce/La, suggesting changes in redox conditions during the growth of hydrogenetic ferromanganese crusts.

Jan 1, 2002

By Yuta Yamamoto

Seafloor massive sulfides (SMS) which contain Au, Ag, Cu, Zn, and Pb have been interested in as a target of commercial mining these 15 years. Japan has large potential of SMS and a national R&D project for the mining has been active these 5 years. However, the economy of SMS mining is very bad, because the waste tailing disposal cost is very expensive in Japan. A slurry flushing method is experimentally examined in this study for the improvement of the economy. During the flushing, because of density difference between the metal-rich ore and the waste rock, a kind of gravity separation is possible. The results suggest a possibility of the actual application.

Sep 14, 2011

By Sup Hong

Herein, concept designs of two different types of mining robots are concerned, which are aimed for developments of deep seabed mineral resources: polymetallic nodules (PMN) and seabed massive sulfides (SMS), respectively. Continuous mining concepts are presented based on technical and environmental feasibility, where the environmental and functional differences for commercial productions are investigated. Needs and roles of versatile mining robots are explained as a key of continuous mining system. The functional requirements and design characteristics of mining robots to satisfy the top requirements from customers are described comparatively. Schemes of axiomatic design and quality function deployment (QFD) are utilized: functional requirements (FR) are defined, technical requirements (TR) are figured out, design parameters (DP) are derived, and degrees of importance of design parameters are evaluated. Analogy and discrepancy in remote operation methods are put side by side. A pilot scale mining robot for PMN and a commercial scale one for SMS are suggested in form of concept designs. PMN mining robot is shaped as a multiple configuration of unit robot modules in side dimension, in which the unit robot module consists of two tracks and two pick-up modules. SMS mining robot is based on a four-tracked vehicle. Main platform is mounted on the vehicle through turn-table. Excavation device consists of two-articulated boom and cutter tool. Crushing-and-pumping units are placed same in both robot platforms.

Jan 1, 2011