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By Kiseong Hyeong

The Intertropical Convergence Zone (ITCZ), where the southeast and northeast trade winds converge, is the effective climatological barrier that separates the southern and northern hemispheres in terms of dust budget. Asian and N. American dusts dominate in the Pacific north of the ITCZ, while Central and S. American dust prevails south of the ITCZ. In order to understand the nature of latitudinal and depth-related variations of mineral composition in terms of position relative to the ITCZ, deep-sea core sediments were collected from 9°N to 17°N at a 2° intervals along the 131.5°W meridian and analyzed for mineral composition. The amount of illite in surface sediments decreases gradually from 65% at 17°N to 31% at 9°N. In contrast, smectite increases from 11% to 56% southward. The observed mineralogical variation toward the ITCZ is attributed to the increased supply of volcaniclastic material transported via the southeast trade winds from the Central and South America source regions. Smectite-illite transition, a phenomenon that the amount of smectite increases over illite, occurs at around 10°N, the northern margin of the ITCZ. This result indicates that the change in latitudinal position of the ITCZ in the geological past could be recorded by the smectite-illite transition in deep-sea cores. The cores studied show down-core variation of mineral composition from illite-rich at the surface to a smectite-rich clay suit at depths, similar to the latitudinal variation. The smectite-illite transitions observed in these cores are likely the records of changes in latitudinal position of the ITCZ. The depth and age of the smectite-illite transition is getting shallower and younger towards the equator, implying that the ITCZ was located farther north during late Tertiary and has shifted southward to the present position of 5°N~10°N.

Jan 1, 2004

By Jan M. Peter

Many of the Pb-Zn massive sulfide deposits of the Bathurst area in northern New Brunswick, Canada, are intimately associated with laterally continuous iron formation (IF) (Figure 1). This IF is a fossil laminated, exhalative, chemical sediment. Together, the IF and the Brunswick #12, Brunswick #6, and Austin Brook deposits (rightmost discontinuous horizon on Figure 1) are collectively referred to as the "Brunswick Belt". To date we have only studied the Brunswick Belt and have not examined the horizon along which the QSR, CNE and Flat Landing Brook deposits lie. The Bathurst area is underlain by the Tetagouche Group (Figure 2), a Cambro(?)-Ordovician sequence of metasedimentary and bimodal metavolcanic rocks that was intruded by mafic to felsic plutons and subsequently deformed during the Taconic Orogeny. The stratigraphic sequence consists of shales and greywackes that are overlain by carbonaceous shales and felsic volcanic and volcaniclastic rocks; these are in turn overlain by mafic volcanic and sedimentary rocks. The massive sulfide deposits and IF occur within the upper portions of the felsic volcanic rocks in close association with carbnaceous metasedimentary footwall rocks (Figure 2).

Jan 1, 1993

By Delphine Pierre, Jean-Marie Augustin, Anne-Sophie Alix, Charline Guérin, Cecile Cathalot, Yves Fouquet, Arnaud Gaillot, Ewan Pelleter, Carla Scalabrin, Florian Besson

With the world’s growing demand for metals, seafloor massive sulfides (SMS) deposits are now seen as a possible mineral resource that could contributes to secure metal supply for human needs. SMS deposits are characterized by high concentrations of base metals and at some place high contents of precious and rare metals. Since 1977 and the discovery of the first high temperature (HT) hydrothermal vent and its sulfide mineralization and high biodiversity, more than 300 sites are known today. If the exploration strategy for detection of active hydrothermal sites is now robust, their associated mineralization will not (and must not) constitute a potential target for deep-sea mining due to environmental concerns and technical limitations. Recent studies on SMS deposits are rather focused on extinct and buried mineralized sites characterized by a lower biomass. Several geophysical techniques to explore and detect extinct SMS (eSMS) and buried SMS (bSMS) have been developed (e.g. Kawada and Kasaya, 2017; Szitkar et al., 2017, 2014) using different approaches (e.g. regional or local scale; ship-based or using underwater vehicles) with several degrees of success or limitation. Here we present results from acoustic surveys performed on the TAG hydrothermal district during the BICOSE (2014) and LEVE-SMF (2016) cruises and direct observation provided by HOV (Nautile) dives carried out during HERMINE cruise (2017). Acoustic data were acquired using two different multibeam echosounders (MBES): the hull-mounted Kongsberg EM122 (12 kHz, R/V L’Atalante) and the ROV-mounted RESON SeaBat 7125 (400 kHz, ROV Victor) (Figure 1). After processing, acoustic seafloor backscatter data from both MBES provides complementary qualitative results in relation to the seafloor composition. The analysis of the seafloor backscatter data obtained by near-seafloor surveys with the high-resolution 400 kHz MBES shows a clear relationship between low backscatter strength values and areas covered with pelagic and hydrothermal sediments whereas high backscatter strength values are associated to pillow lavas and basaltic scree. Intermediate backscatter strength values are rather related to old and younger eSMS as well as to mineralization on TAG active mound.

Jan 1, 2018

By S. C. W. de Jong, E. de Hoog, J. M. van Wijk, S. J. Dasselaar

Introduction Technology development for sustainable, safe, reliable and efficient mining of polymetallic nodules in the deep seas requires careful design, thorough understanding and integrated testing of all equipment, physical processes and (sub) systems involved (Dasselaar et al [1]). Proceeding from Vertical Transport System (VTS) experiments at IHC laboratory scale by Van Wijk [2], with typical system dimensions of several meters, to prototype or pilot scale testing with typical dimensions of several kilometers, is a giant leap. Naturally, intermediate steps are required in order to mitigate the possible risks in the full-scale system’s (physical) processes. Within the EU program Blue Mining (2014-2018), possibilities emerged for performing experiments at intermediate scale: the so-called medium-scale vertical slurry experiments. Near Freiberg, Germany, the village Halsbrücke possesses a 140 meter deep empty vertical mine shaft, perfectly suited for housing the test setup. For this purpose, a 318 meter long 145 mm pipeline circuit was constructed, including both a 130 meter high vertical riser and fall pipe section. A purpose-built sediment injection and separation system was deployed, including a 55 kW centrifugal pump. The riser section has been equipped with sensors capturing pressure, temperature, flow velocity, volumetric concentration and flow visualization. The planning, modification and construction of the test facility site itself is described by Müller et al [3]. The present paper describes the objectives, experimental program, equipment, and the preliminary results. Publications on in-depth results are foreseen in the (near) future.

Jan 1, 2018

By Alexander Malahoff

An international research team working through the Hawai?i Undersea Research Laboratory (HURL) undertook a bold challenge to explore the chemistry, geology, mineral formation and superheated hydrothermal vents of the Kermadec Island Arc. With the mothership, R/V Ka?imikai-o-Kanaloa, scientists from six research institutions explored the active submarine volcanoes stretching over a line of volcanoes 1,000 miles long between Samoa and New Zealand. The expedition left Hawaii on the 18th of March 2005 and returned on the 5th of August having covered a distance of 10,000 miles between Hawaii and New Zealand. Scientists from the USA, New Zealand and Germany used the HURL submersibles, Pisces IV and Pisces V, as well as the remotely-operated vehicle RCV-150, aboard the R/V Ka?imikai-o-Kanaloa to dive into active volcanoes to water depths of 2,000 meters. Scientists from New Zealand, the USA and Germany conducted 41 dives on the previously unexplored (from manned submersibles) submarine volcanoes. Ten active volcanoes were explored during this time. Hundreds of specimens of new and unusual marine life, water chemistry, extremophile microorganisms, mineral formations and volcanic rocks were collected during this expedition with the two submersibles and the ROV. Bizarre natural events, such as the oozing of hot liquid sulfur from the ocean floor onto the skids of the submersible were observed. Carbon dioxide gas was observed profusely streaming into the seawater from the volcanoes, making these one of the greatest contributions to hot house gasses entering the atmosphere.

Jan 1, 2005

By Tina Schneider

Scientists show that polymetallic nodules and massive sulfides from deep sea mining contain valuable metals. These metals have the potential to overcome future shortages of supply. Hence, companies, government agencies and industrial associations increasingly evaluate deep sea mining as a promising supplement of land mining. Technologies to extract, exploit, transport and smelt polymetallic nodules and massive sulfides industrially are still in conceptual stage and not sufficiently advanced for operation. According to the International Seabed Authority, large scale exploitation would require a successful pilot mining test in order to demonstrate e.g. the technological feasibility but also the conservation of environmental systems services. At the same time, NGO´s and a some scientists point out that large scale extraction of polymetallic nodules and massive sulfides could disturb the habitat of benthic organisms, with unknown long-term effects. Aside from the direct impacts of mining, indirect consequences about leakage are likely. In the oral presentation I will show how companies, government agencies, scientists and association/interest groups perceive and assess economical/technological, social and environmental risks and opportunities of deep sea mining. In order to analyze the perspectives of each stakeholder group on deep sea mining, we conducted 15 interviews with four stakeholder groups and a large scale survey (n = 500, return rate = 13 %) in Germany. We used the concept of sustainability with its economical/technological, ecological and social dimensions for the interpretation of the results. The empirical research shows the following core results:

Jan 1, 2018

By Tatiana ?. Sedysheva, Vladimir V. Ivanov, Michail E. Melnikov, Irina A. Pulyaeva

"INTRODUCTIONHydrogenetic Fe-Mn crusts are ubiquitous in the ocean basins and play an important role in marine mineral-deposit research because of their widespread occurrence and high concentrations of valuable and rare metals. Directed research, which started in the last quarter of the 20th century, has provided significant results, with substantial amounts of data produced on Fe-Mn crusts structure, composition, and distribution in the global ocean [3, 4 - 8]. Now, commercial interests gain more and more attention. Mining systems are being developed which involve fragmentation of the crusts and their separation from the substrate. The effectiveness of such activities greatly depends on physico-mechanical characteristics of the crusts and rocks on which they form. This determines the importance of the engineering geological study of the objects.This article comprises the results of the engineering geological studies of the crusts samples (72 samples) and their underlying rock substrates (75 samples), which were carried out during the research cruises 6-06, 6-07, 6-08, 6-13 (2006-2013) on the Magellan Seamounts guyots in the Western part of the Pacific Ocean by the specialists of the State Scientific Centre Yuzhmorgeologia [10 - 13, 19, 20]. The authors of the article directly participated in the studies mentioned above.MethodsEngineering geological studies were carried out on board of the research vessel Gelendzhik and in the laboratories of NPA «Sevmorgeologiya». The studies involved the determination of the following parameters:"

Jan 1, 2017

By Mark D. Hannington

Seafloor polymetallic sulfides have been found in diverse volcanic and tectonic settings on the ocean floor at water depths ranging from 3700 meters to <1500 meters. More than 100 occurrences of hydrothermal mineralization have been documented (including Fe-oxide deposits, Mn-crusts, metalliferous sediments, and massive sulfides), but high-temperature hydrothermal activity and large accumulations of polymetallic sulfides are known at fewer than 20 different sites. Chemical analyses of samples from these deposits indicate that they contain important concentrations of Cu, Zn, Ag, and Au, comparable to those of massive sulfide deposits on land. However, the lack of sufficient data concerning the distribution, size, and bulk composition of seafloor deposits precludes a meaningful assessment of their resource potential.

Jan 1, 1994

By Robert G. Ditchburn

Msjflkcisokng During the past sixteen years, GNS Science has developed a number of radiometric methods for dating massive sulfide samples from submarine arc and back-arc volcanoes. This has improved our understanding of the formation of these hydrothermal systems, the frequency and duration of their activity, and assisted marine mineral exploration companies in assessing the economic potential of these deposits that can be rich in copper, zinc and gold (up to 90 ppm Au in some chimneys). The radiometric dating methods that we employ utilize radium isotopes that are extracted from the host rocks without their parent thorium isotopes, by ascending, hot, acidic hydrothermal fluids. When the hydrothermal fluid discharges into cold seawater, chemically similar barium and radium co-precipitate as barite, a common mineral contained within the black smoker chimneys that grow upwards from the seafloor. From the onset of mineralization, the isotopes 228Ra and 226Ra (with half-lives of 5.75 yrs and 1600 yrs, respectively) begin to decay, so that the 228Ra/226Ra and 226Ra/Ba values decrease with time. Thus, samples can be dated using these ratios once the initial values, i.e., the values at the onset of mineralization, have been established, ideally from active chimneys. 228Ra decays to 228Th (half-life 1.91 yrs) and from the 228Th/228Ra values, the growth-rate of individual chimneys can be estimated. The isotope 210Pb (half-life 22.3 yrs) is occasionally used for dating the mineralization, although several samples from a chimney are needed to determine an age from the 210Pb grown from 226Ra, using the isochron technique.

Sep 14, 2011

By Robert G. Ditchburn

Dating seafloor mineralization at hydrothermal centres of submarine arc volcanoes is important for understanding deep-seated volcanic events that can produce deposits rich in base and precious metals. The activity ratios, 228Th/228Ra, 228Ra/226Ra (Bq.Bq-1) and 226Ra/Ba values (Bq.g-1) are used for dating barite- rich seafloor massive sulphide (SMS) in the age ranges 0.3 ? 12 years, 3 ? 35 years and 500 ? 15,000 years, respectively. Thus, the time elapsed to amass an economic deposit and, ultimately, its capacity for sustainable extraction, can be estimated. 226Ra/Ba and 228Ra/226Ra values have been measured in relatively young chimneys that were collected, 1998 to 2006, from hydrothermal sites at Brothers and Clark volcanoes (Kermadec arc) and East Diamante volcano (Mariana arc) to check these initial ratios, essential for calculating ages for older mineralization at the same sites, were not varying significantly. We found that the 226Ra/Ba value for fresh SMS mineralization at the Brothers NW caldera and East Diamante hydrothermal sites have been reasonably stable for 6 years and 2 years, respectively. At both sites, the 228Ra/226Ra value for fresh SMS has been stable for 5 years. This was established from young chimneys where the measured 228Ra/226Ra value could be corrected for radioactive decay using the age derived via the 228Th/228Ra method. However, long-term stability of the initial 226Ra/Ba and 228Ra/226Ra values has yet to be proven. These isotopes of Ra are used as a proxy for better understanding of the transfer of Ba from deep magmas to the seafloor, via the circulating fluids of the hydrothermal system.

Jan 1, 2011

By John Parianos

"Seafloor mining provides significant potential economic benefits for many Pacific nations that may be “land poor” but “coastline rich,” meaning they have the potential to utilize and profit from the mineral wealth within their Exclusive Economic Zones that extend 200 nautical miles (360 km) out from their coastlines. Within international waters, mineral wealth is the “Common Heritage of Mankind” with additional benefits for sponsoring states and their people.The Solwara 1 Project build continues with significant progress over the last twelve months. The Seafloor Production Tools (SPTs), Subsea Slurry Lift Pump, riser pipe, launch and recovery systems and winches are now complete with delivery to test facilities and the vessel ongoing. Recent focus has been on submerged trials for the SPTs, but the vessel build continues to progress to schedule. Nautilus appreciates the great support thus far from our all our stakeholders.Our focus is to develop the world's first commercial high grade seafloor copper-gold project in an environmentally and socially responsible manner and to launch the deepwater seafloor resource production industry.Nautilus’s marine research continues, including a 3.5-month series of exploration cruises for Seafloor Massive Sulphides in the Bismarck Sea, as well as fabrication of purpose designed exploration equipment."

Jan 1, 2017

By Wiebe Boomsma

This is a framework study financed by the Maritime Innovation Programme of The Netherlands and several institutions actively involved in the research of the environmental impact of deep sea mining; IHC Mining, MTI Holland, Delft University of Technology, NIOZ, IMARES, Boskalis Westminster, AllSeas and TNO. For this framework study the following mining activities have been identified to be relevant to assess the ecological impact of a deep sea mining operation: a) excavation, b) tailings return, c) vertical transport, d) vessel operations, e) ore transport and f) general operations. For this paper, only one mining activity has been selected as an example for the assessment of ecological effects. This is one of the main activities introduced by the new technology envisaged for developing deep sea mining: tailings return.

Sep 14, 2011

By Arturo Carranza Edwards

Sedimento II oceanographic cruise, on board of the B/O El Puma, shows a new high anomaly or phosphate associated with shelf sediments from the south Mexican Pacific. Recently, were found two anomalies in the Gulf of Tehuantepec, that are located to the east of this new anomaly, that is related to muddy sands and rock fragment debris. The latter shows values of 17% P205. The phosphate occurrence is probably associated with red tides locations that usually are found in sites where sediments are phosphates enriched. These findings suggest that south Mexican Pacific is of potential interest for P205, in waters with high nutrients values. The possibility of a more regional occurrence of phosphate, from California to Chile is suggested.

Jan 1, 2000

By Glen Smith

Nautilus Minerals is the world leader in exploration and development of deep ocean seafloor massive sulphide (SMS) resources. The company is currently focused on generating its resource pipeline in the Western Pacific and its first development project for recovery of high-grade copper, gold and silver mineralisation from its Solwara 1 site in the Bismarck Sea, Papua New Guinea. The Solwara 1 site is located at a water depth of 1,600 ? 1,800 meters. Over 150 SMS seafloor surface samples have been collected from chimney structures during dives made by remote operated vehicles (ROVs). In order to obtain an understanding of the sub-surface mineralisation, Nautilus carried out 4 drilling programs between 2006 and 2010 which allowed the calculation of a Canadian NI43-101 compliant resource estimate. The initial 2006 campaign was based on conventional offshore surface driven drill equipment. In conjunction with the subsea remote technology industry, Nautilus subsequently developed an ROV operated seafloor drill system with improved drill core recovery and efficiency. This technology was developed further with a 2010 - 2011 drill program to increase the available geological knowledge at Solwara 1 and adjacent prospects. his paper will provide an overview of Nautilus? SMS drilling requirements and recap the evolution of drilling technology and operations undertaken at Solwara 1 from 2006 to 2011. The paper will also discuss the potential of further developments in drilling techniques and equipment to increase or improve drilling depth, efficiency and data quality.

Jan 1, 2011

By Mark Lee, Isobel Yeo, Sarah Howarth, Christian Millo, Javier González Sanz, Paul Lusty, Bramley Murton, Pierre Josso

"Seafloor cobalt-rich ferromanganese crusts represent the most important yet least explored resource of ‘E-tech’ elements on the planet (Hein et al. 2003; ISA, 2008; Hein et al. 2010; Hein et al. 2013). These polymetallic deposits form a continuum from nodules rich in manganese and cobalt to crusts rich in tellurium and the heavy rare earth elements (HREE). It is this combination of traditional (base) metals and the extreme enrichment of ‘E-tech’ elements that makes seafloor ferromanganese oxide deposits particularly interesting to both science and society. Recent estimates of the global resource, based on the sparse data available, infers a dry mass of ferromanganese crusts on the seafloor of 35 x 109 tonnes (35GT). Of this, 3.7 GT is predicted in the Indian Ocean, 8 GT in the Atlantic, and 23 GT in the Pacific (Hein et al. 2013).At a global scale, the processes controlling the formation and distribution of ferromanganese (Fe-Mn) crusts are reasonably well understood (e.g. Hein et al. 2000; Verlaan et al. 2004; Cronan 2006; Halbach et al. 1989; Usui and Someya, 1997; Hein et al. 2000; Hein et al. 2003; Hein et al. 2009; Hein et al. 2010; Hein et al. 2013; Muiños et al. 2013; Marino et al., 2016). However, much of this knowledge is drawn from sparse sampling at a regional to ocean basin scale. As a result, there remains a fundamental gap in understanding of the role of local-scale factors, such as micro-topography, ocean currents and upwelling, sedimentation rates, micro-organisms, water mass composition and biological productivity, that are considered potentially crucial to controlling the growth and composition of Fe-Mn crusts. Indeed, quantitative, particularly temporal, information relating to these processes and their relative importance in deposit formation is almost completely absent. Hence, to make any significant advance in understanding these deposits require significant new research."

Jan 1, 2017

By Michael R. Gipp

Marine Mining Inc. is currently exploring for marine alluvial gold and diamonds on a prospecting licence over a concession that covers 10,000 km2 of the continental shelf of Ghana. The boundaries of the concession extend from 0 30&apos;W to 2 40&apos;W, and between the shoreline and approximately the continental shelf edge north of 4 30&apos;N. This concession extends from Kikam Beach in the west, to Senya Beraku in the east, a distance of approximately 240 km, and seaward an average of about 40 km. The concession is entirely underwater, with the exception of the estuaries of the Ankobra and Pra Rivers. Ghana has been a large source of alluvial gold, with historical production exceeding 25 million ounces. Southwestern Ghana is characterized by Precambrian rocks, which have been folded into a number of NE-SW trending synclines and anticlines. The most significant feature of the Birimian rocks is the presence of evenly spaced gold-bearing greenstone belts. They are 10-15 km wide, separated by about 90 km, separate basins filled by folded metasediments and granitoids. The rivers that enter the concession drain most of the exposed gold-bearing belts of Ghana. Given that approximately 2 km of erosion has taken place since the Mesozoic, and that gold mines on these belts boast proven reserves of over 55 million ounces, it is likely that large amounts of gold have been eroded out and carried to the sea. Coastal fractures, related to Precambrian structures reactivated during Mesozoic rifting, are responsible for the physiography of the coastal area, which consists of high-relief horsts separated by grabens that have been occupied and infilled by rivers or by finer sediments during times of elevated sea level. These fractures were loci of gold mineralization during the Precambrian, and are the source of alluvial gold in rivers confined by them.

Jan 1, 1998

By Anthony Wakefield

Dredging tends to be either horizontal or vertical. In each case solids have to be disengaged from the deposit, mobilized, acquired and elevated or translated. One means of elevation is the airlift. Elevation and translation of essentially granular material nay be by jet pump or centrifugal pump. Any of the three types may be used on its own. The airlift and jet pump may he combined for vertical transport and the centrifugal and jet pumps for predominantly horizontal. Both suction point and pipework must have a means of deployment from the surface or from a submerged vehicle or merely a diver. An airlift is an energetic system, having a source of energy and a means of storing it. It therefore will be difficult to prevent oscillation -surging. A centrifugal pump has a characteristic that bends over at low flow rate and is therefore intrinsically unsuitable for pumping solids. The result is blockage, operation at high velocity and correspondingly high wear rates or operation at low concentration of solids and correspondingly low efficiency. The jet pump is intrinsically exceptionally stable but has a low hydraulic efficiency. The jet pump-airlift hybrid prevents or reduces surging and increases system efficiency away from the optimum depth for airlift operation. Delivered solids concentration is increased. The jet pump-centrifugal pump hybrid totally prevents pipeline blockages and increases the productivity from a given pipeline size. For a given energy input the average production is typically doubled. For example, the Indian River Delaware bypassing pipeline transmits an overall day-in-day-out average of 500t/h (tonnes) of sand down a 10.86" diameter line.

Jan 1, 1998

By T. E. Sedysheva

The study of Co-rich manganese crusts has reached the level which allows to start prospecting works in the observable future, and furthermore, probably, exploitation of ore deposits. In this connection, among other goals, the necessity to analyze a distribution of ore bed parameters in details is quite urgent. Foremost, these are crust thicknesses in connection with landforms and elements of submarine mountains relief. This report is based on representative sampling made in course of research cruises run by SSC Yuzhmorgeologiya over guyots of the Magellan Seamounts. Crustal covers could overlie seafloor surfaces which are confined to a various landforms and elements of relief under the condition, that they are free of sediments. These are planed parts of a summit surfaces, edges, spurs, rectilinear parts of slopes, intermountain saddles and volcanic edifices. It is known, that crustal thicknesses are different at a various forms of relief [1]. We processed statistically the data around crustal thicknesses, which were sampled by dredging and submersible drilling (Tables 1, 2).

Jan 1, 2010

By Virginie Tilot

Recommendations have been drafted following an international multidisciplinary panel discussion organized at UNESCO/IOC by the Académie des Sciences d?Outre-Mer on 15 December 2010 conveyed, according to its mandate, to the French government and to an international pool of scientists and stakeholders. These take into consideration the relevant Provisions of the United Nations Convention on the Law of the Sea of 10 December 1982, the Rio ?Earth Summit? Convention of Biological Diversity of 5 June 1992 as well as the activities and recommendations implemented for the world?s oceans and seas, in particular by the International Seabed Authority (ISA) and the recent reports and scientific works (including those implemented by the ISA Kaplan, Ifremer, COI-Unesco). The recommendations integrate, for one of the ecosystems, the conclusions of the project of the conclusions of an IOC-UNESCO / Government of Flanders project (2004-2010) implemented by Dr. V. Tilot from 2004 to 2010, during which were published three volumes describing the referential state of the polymetallic nodule ecosystem and proposing options for the management and conservation of the nodule ecosystem in the Clarion Clipperton Fracture Zone, NE Pacific Ocean: http://unesdoc.unesco.org/images/0014/001495/149556f.pdf, http://unesdoc.unesco.org/images/0014/001495/149556e.pdf; http://unesdoc.unesco.org/images/0014/001495/149556e.pdf#223

Jan 1, 2011

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