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By Daisuke Monoe, Kisaburo Nakata, Rika Takeuchi, Tetsuo Yamazaki, Tomoaki Oomi, Tomohiko Fukushima

There are generally two methane passes in conjunction with the seafloor natural cold seepages, as is schematically shown in Fig. 1. The first pass consists of the coupled anaerobic oxidation of methane and anaerobic sulfate reduction, as well as sulfur oxidation in the bacterial mats and immobilization thereafter in the sediment layer and on the seafloor. Through the first pass, calcium and organic carbonates are formed in biological and chemical processes from the methane (Luff and Wallmann, 2003; Luff et al., 2004). The detailed structure of the seafloor methane consumption process unit and its biological and chemical processes were introduced in Yamazaki et al. (2005). The other pass consists of direct bubbling into the water column. Through this pass, organic carbonate is formed with biological oxidation, and a small amount of the methane escapes into the atmosphere. Methane flux is supplied to these two passes through the sediment layer from the deeper structures. The structure of the methane supply process unit was introduced in Yamazaki et al. (2006).

Sep 24, 2006

By N. J. Poll

The Zacarias gold-silver-barite deposit appears to be a Precambrian analogue of present-day exhalative deposits on the sea floor. Geochemical, stratigraphic and structural studies of the latter can be useful in elucidating the ore environment at Zacarias, thereby assisting exploration. The Zacarias mine is about 300 km north of Brasilia, within the Goiás Massif, Brazil. It is the southernmost of three auriferous quartzite occurrences along 1 km of a northeasterly striking amphibolite. Zacarias and its neighboring smaller deposit to the north, the Central Pit, contained a premining ore reserve of 650,000 tons at 4.4 g/t gold, 48 g/t silver, and about 20% barite. Gold mineralization is hosted by concordant quartzite strata also containing layered barite, pyrite, barium-mica, sphalerite, galena, chalcopyrite, magnetite, sulfosalts, free gold, and electrum. The host amphibolite is intercalated with barren mica-quartz-chlorite-pyrite schists that are more voluminous in the footwall and are associated with the ore horizons. Above the amphibolite in the hangingwall lies a thin graphitic shale, then a feldspathic arenite. The strata and regional foliation strike northeast and dip 42° northwest. Crenulation and small-scale folds plunge 30 to 40° to the west.

Jan 1, 1993

By U. Schwarz-Schampera, C. Rühlemann, H. -R. Kudrass

Within 2006 BGR will conclude a contract with the UN International Seabed Authority (ISA) for the exploration of polymetallic nodules. The contract covers an area in the Pacific nodule belt between the Clarion and Clipperton fracture zones, that which is about 75.000 km2 in size at water depths between 4200 and 5000 m (see Fig. 1). Up to now, 7 consortia or state parties have acquired similar exploration “licenses” for polymetallic nodules in the central Pacific Ocean and the Indian Ocean. These licenses of the UN authority are required according to the UN convention on the law of the sea (UNCLOS) as the areas of interest are located outside of national EEZs. The “licenses” then reserve exclusive rights to the applicant for a time span of about 15 years.

Aug 24, 2006

By D. S. Cronan

Studies on polymetallic manganese nodules and Co-rich crusts in the EEZ's of the Cook, Line, Ellice and Phoenix Islands between 0-20°S show that Ni and Cu reach their greatest combined abundances of over 2% between 2-8°S on the southern margin of the equatorial zone of high biological productivity, as a result of biological fluxing of Ni and Cu to the nodules at and just below the CCD. By contrast, Co reaches it greatest abundance of 0.6% south of 8°S in nodules on non-biogenic clays well below the CCD where little biological Co supply is likely. Nodule abundances are greatest (up to 30kg/m2) in the Co-rich area in part due to AABW flow, giving highest overall metal quantities per sq meter in the nodules there, particularly of Co. There are approximately 110 x 106 tonnnes of combined Ni plus Cu plus Co expressed as Ni equivalent in Cook Islands EEZ nodules, approximately 12 x 106t. in Phoenix Islands ones, and approximately 1.4 x 106 t. in Ellice Islands ones, in areas of greater than 5kg/m2 nodule abundance. In the Co-rich crusts, Co averages about 0.7% and crust thickness about 1.6cm, both related to metal fluxes in and adjacent to the 02 minimum zone in association with which both maximum thicknesses and Co grades occur. Within the Cook Islands permissive area there are about 930 x 103 t. of Co and 630 x 103 t. of Ni in crusts, in Phoenix Islands crusts there are about 69 x 103 t. of Co and 55 x 103 t. of Ni, and in Ellice Islands crusts there are about

Jan 1, 1989

By V. Alexandrov

This paper presents the results of theoretical investigations of the energy requirements of the hydraulic lifting of mined materials from the seabed to the sea surface in the deep-sea mining of solid minerals such as manganese nodules in the Clarion-Clipperton region of the Pacific, situated on the sea floor in water depths of 4,500 m or more. The principal element of the developed underwater transport system is the Underwater Chamber, which is connected by flexible pipeline to a mining machine that gathers nodules from the seabed, mixes them with seawater, and feeds them into a flexible pipeline. In this paper, we discuss the question of the optimum water depth for placement of the Chamber, the interior of which is designed to maintain a 1-atmosphere pressure. We present a method for calculating this depth as it relates to the mechanical characteristics of solid particles, the shapes and size distributions of the particles, particle and slurry density, and other properties. These investigations were carried out in hydro-transport laboratory of the Saint-Petersburg Mining Institute and the hydraulic laboratory of Faculty Environmental Engineering in Wroclaw Agricultural University. KEY WORDS: deposit, nodule, flexible pipeline, pressure drop, concentration, hydromixture

Jan 1, 2005

By Sven Petersen

In April 2010 three REMUS6000 series autonomous underwater vehicles (AUVs) have been used to simultaneously map large areas near the Mid-Atlantic Ridge (3°N) axis in water depths ranging from 1,000m to 4,000m. One vehicle was provided by the Leibniz-Institute for Marine Science, IFM-GEOMAR (Kiel, Germany) the other two were provided by the Waitt Institute for Discovery (La Jolla, USA) and managed by the Woods Hole Oceanographic Institute (USA). The REMUS6000 vehicles, manufactured by Hydroid Inc. (USA), are "cigar-shaped" vehicles (4m long and weighing approx. 900kg) and consist of a tapered forward section, a cylindrical midsection and a tapered tail section. An internal titanium strongback, which extends through much of the vehicle length, provides the structural integrity and acts as a mounting platform for syntactic foam, equipment housings, various sensors and release mechanisms. The AUVs can be used in various payload configurations such as multibeam bathymetry, electronic still camera, or subbottom profiler. For these missions the electronic still camera configurations was installed. An EDGETECH 2200M dual frequency (120/410 kHz) side scan sonar was used to map the seafloor, but other frequencies are readily available for more options in resolution and range. The 120 kHz side scan transmitter was used for most missions in order to map large areas (increased range) and to be able to fly at higher altitudes (between 70m and 90m) above the rough seabed encountered in this area. The maximum slant range was between 600m and 700m on both sides resulting in a swath width of up to 1.2 km. Line spacing ranged from nearly 1,000m in flat areas down to 400m in steep terrain. Side-scan mosaics were generated with a 1m resolution. Selected areas were targeted by the higher resolution 410 kHz transmitter as well as by bottom photographs flying as low as a few meters above the seabed. The vehicles navigated autonomously using a combination of inertial navigation (Kearfott T-24 or T-16 INS) and long baseline acoustic navigation by computing their range to two moored acoustic transponders. Working efficiently in this rough topography at speeds above 3 knots was only possible due to the obstacle avoidance capabilities of these AUVs.

Jan 1, 2011

By S. Naidu, J. Kelley, Roger Amato

The Alaskan Continental Shelf covers 76 % of the total shelf area of the United States. There are a lot of potential gravel deposits in the Alaskan offshore region. The gravel resources are currently not feasible for mining for the following reasons (U.S Congress, 1987): 1. Much of the glacial gravel is poorly sorted. 2. Gravel deposits are overlain by sandy and muddy layers. With the sea level expected to rise 70 cm in the next 100 years (Intergovernmental Panel on Climate Change, IPCC, 2001; Day, 2004), erosion of coastlines will be a major problem not only in Alaska but worldwide. Hence beach nourishment projects designed to minimize erosion will require large volumes of sand and gravel. Offshore areas will become a logical source for the fill material because of their proximity and ready availability. It is likely that future supply of coarse aggregate in Alaska may involve exploitation of marine deposits. The Chukchi Sea is a potentially favorable region for this type of mining because of extensive deposits of paleo beach and other relict gravel found in the near shore region (Stauffer, 1987). However a systematic analysis of potential gravel resource has not yet been conducted and it is the purpose of this research to estimate the size, extent and variability of gravel material that may be available in the continental shelf, offshore Kivalina.

By B. Prause

Ferromanganese crust samples collected from Central Pacific sea-mount areas became of special interest after surprisingly high nobel metal contents have been analyzed. Hydrogenetic crust growth is controlled by the conditions of the oceanic water column. Thicker encrustations show two crust generations of different age ranges. The mean values of the chemical composition state that the older generation is richer in P, Ca, Ni, Cu, Zn, and Pt and depleted in Fe, Ti, Co, Al, and Si. The differences apparently indicate a distinct change of the geochemical environment. The Pt concentrations vary up to 1800 ppb and do not clearly correlate to one of the other metals. This might indicate a bond of multiple nature. Several mechanisms have been proposed to explain the Pt concentrations in ferromanganese samples. Our models consider seawater and cosmic spherules as responsible Pt sources. In seawater the main species of dissolved Pt probably exist as the doubly negatively charged tetrachloro-complex. A precipitation of Pt in seawater may take place if the chloro-complex is decomposed by reduction of pt2+ to pt0. On the other hand, the Mn02 precipitation is caused by an oxidation of Mn2+ which is supplied from the oxygen-minimum zone. The large activation energy needed for the oxidation of divalent ~n" in solution has been recognised, and the resulting slowness in the formation of Mn(V1)-oxihydrate sug

Jan 1, 1989

By P. E. Mikhailk

From July 29 to September 15, 2004, the 178th cruise of the R/V Sonne took place under the KOMEX program in the Sea of Okhotsk. One of the cruise objectives was to dredge two different kinds of seamounts: 1 ? underwater volcanoes from the north slope of the Kurile Basin; 2 ? a seamount formed by tectonic (non volcanic) processes from the Kashevarov Trough. The underwater volcanoes are young edifices (0.84 ± 06 Ma, Baranov et al., 2002) with heights ranging from 150 to 300 m. Tops of the volcanoes are located at depth of 1260 to 2340 meters. The volcanic edifices are formed by olivine-clinopyroxene-plagioclase basalts. Dredge samples are covered by Fe-Mn crusts up to 40 mm thick. The seamount from the Kashevarov Trough is a tilted block. The height of the seamount is about 400 m and its top is located at a depth of 960 meters. Biotite hornfels, conglomerates, granodiorites, dropstones, and Fe-Mn crusts were recovered there. The thicknesses of crusts are up to 150 mm. Fe-Mn crusts from the underwater volcanoes differ from Fe-Mn crusts from the Kasevarov Trough seamount in morphology as well as in mineralogical and chemical compositions. The research was supported by the Program of the Presidium of the Far East Branch of the Russian Academy of Sciences (project ? 05-III-G-08-086).

Jan 1, 2005

By Timothy F. McConachy

Hydrothermal fluids emanating from the seafloor rise as buoyant plumes, entraining ambient bottom sea water on the way up, until they reach density equilibrium and spread laterally in a direction that is governed by near-bottom currents. Plumes provide targets for focussing exploration for seafloor polymetallic sulfide deposits associated with active hydrothermal vents because their lateral and vertical extent is commonly orders of magnitude larger than the vent field from which they originate. Black smokers can inject on the order of 10,000 µg of particles per liter into a sea water column that normally contains only about 10 µg of particles per liter. The resulting plume should be characterized by increased particulate concentration with respect to background sea water and, therefore, provide a measurable gradient towards the source of venting. By utilizing the ability of particles to scatter light, we employed a real¬time, acoustically telemetered, nephelometer to measure this gradient, and mapped the size, shape and particle concentration of plumes at an active spreading center on the Southern Explorer Ridge at lat 49°45.6'N and long 130°16.2'W. Isopach and particle concentration data indicate the presence of two separate but overlapping plumes. The first is associated with a known vent field called Magic Mountain; the second with a new field called AGOR 171, 1.2

Jan 1, 1986

By Ki-Hyune Kim

The Korea Ocean Research and Development Institute conducted its first exploration for deepsea mineral resources in 1983, and began a systematic deepsea prospecting in 1989 among Micronesian islands and in central and eastern parts of Carion-Clipperton fracture zones of eastern Pacific. With the arrival of R/V Onnuri in 1992, KORDI commenced a full-scale national program for nodule exploration. The total area surveyed by KORDI covers more than 1,500,000 km2. At the end of 1993, based on the collected data, Korea designated 300,000 km2 in the Clarion-Clipperton fracture zone as prospective mining area for manganese nodules, and accordingly, the government of Korea submitted the application in January of 1994 to the United Nations for registration as a pioneer investor and for the allocation of a pioneer area. This application was approved by the General Committee of the Preparatory Commission in August 1994. As a result, Korea became the 7m pioneer investor under the United Nations Convention on the Law of the Sea. KORDI is now carrying out detailed exploration survey and environmental studies in the registered area to fulfill required obligations to UN, and Korea will continue exploring the last frontier on earth. It is KORDI's unshaken calling to be successful in exploiting deepsea resources to provide our nation resources it lacks. It is not only a challenge to explore deepsea, but it is also our national mission to explore and succeed in our endeavor for future generation.

Jan 1, 2011

By Jonguk Kim

Hydrothermal exploration aboard the R/V Onnuri was performed along the northern Central Indian Ridge (CIR) between 8°S and 12°S in January 2010. The main objectives of this first Korean research cruise on mid ocean ridge system was 1) to understand the nature of spreading segments of the northern CIR area, where no systematic survey have been operated before, by mapping and sampling of volcanic rocks and 2) to discover new hydrothermal venting along the spreading center of northern CIR. During the first leg (IR09 Leg1) bathymetric data, in ~50 km width, were collected by multibeam echo sounding system (EM120), which reveals the exact location and structure of axial rift valley of northern CIR between ~ 8°S and 17°S. Then, rock sampling and CTD casts and tows were performed in northern half of the multibeam survey area in the second leg (IR09 Leg2). The results of bathymetric survey clearly display ocean core complex between 10°S and 11°S. The ocean core complex is featured by topographic-high area with corrugated surface. Lineament of corrugations of the ocean core complex are clearly perpendicular to abyssal hill direction which are triggered by symmetric-normal faults. Symmetrical and asymmetrical segments are characterized by parallel abyssal hills and ocean core complex and/or subparallel abyssal hills, respectively. Geochemical analyses of basaltic glasses from spreading axis show geographic trend of increasing of incompatible elements north to south along the spreading axis, which might be influenced by Reunion hotspot plume. However, local but clear enrichment of incompatible elements is observed in volcanic lava from segment 2, which suggests possible local mantle heterogeneity of uncertain source. Lots of serpentinite and gabbroic rocks with coarse-grained feldspar was recovered in the ocean core complex. Ultramafic and/or mafic rocks indicate the gentle-domed block was traveled from upper mantle. Along the spreading axis of the northern CIR, significant hydrothermal plume signatures were detected by CTD castings and tows. Plume signatures were observed at all 5 surveyed segments, suggesting vigorous hydrothermal activities along the northern CIR. However, the optical signals (light transparency and backscattering) of the nearly every cast along the axial valley of the CIR showed increased background level, which might be due to higher level of suspended particles within the axial valley not only by widespread hydrothermal plumes but also by other processes like resuspension. Onboard dissolved methane analysis indicates that the greater part of the plume signals are originated from hydrothermal venting, not by resuspension. However, more detailed examination, including analyzing additional hydrothermal tracers, need to distinguish actual hydrothermal plume signature.

Jan 1, 2010

By Sung-Hyun Park

Core sediment samples collected from the KODOS area of the Clarion-Clipperton Fracture Zone in the NE Equatorial Pacific were analyzed for chemical and mineralogical compositions to investigate the depth- and time-related variation of paleoenvironmental and paleoceanographic conditions during their deposition. These core sediments are divided into three layers from top to bottom by its color; 1) brown layer (Unit I), 2) pale brown layer (Unit II), and 3) black brown layer (Unit III). Geochronology of 10Be indicated the depositional age of Quaternary for Units I and II and of late Pliocene for Unit III with a potential short hiatus between them. Analyses of interelemental correlation identified three major groups of elemental groups that show moderate-to-strong correlations: 1) Al, Ti, K, and Fe representing for terrestrial alumino-silicate fraction of sediments, 2) Ca, P, REEs, Cu, and Zn for biogenic apatite, and 3) Mn, Ni, and Co for hydrogenous Mn-oxide. With an exception, Fe content was very high and showed fair correlations with Mn, Ni, and Co in Unit III. Unit III shows high smectite but low quartz and illite contents compared to the overlying two units, indicative of reduced supply of terrestrial materials. In a meanwhile, major elements (Fe2O3, CaO, P2O5), minor elements (Cu, Zn) and REEs are highly enriched in Unit III compared to the upper two units. All these elements other than Fe reflect the fraction of biogenic apatite, which indicates higher fraction of biogenic components in Unit III. This is also supported by higher amount of smectite formed by the consumption of siliceous biogenic components. The reduced supply of terrestrial material and/or increased productivity of surface water at the time of Unit III deposition are attributed to Pliocene warming preceding Northern-pole glaciation during Quaternary. Unit III also includes clinoptilolite and unidentified 8Å mineral, likely amphibole, that are absent in Units I and II, suggestive of the possibility of different source region and/or materials during Pliocene. Higher contents of Mn and Fe in Unit III are likely due to the high fraction of Mn-oxide that was formed by diagenetic process after deposition.

Jan 1, 2003

By Akira Usui

Platinum is one of the most rare elements in the earth?s crust, but it is significantly enriched in some hydrogenetic ferromanganese crusts in the ocean. The element is essential to the electric industry and is believed to be of importance as a raw material a future fuel-cell industry. The earlier reliable chemical analysis of platinum-group elements (PGE) of ferromanganese crusts have indicated a variety of concentrations of Pt in the range of 100 ppb to a maximum of about 1 ppm, but little is known about the elemental abundance in ferromanganese crusts on fine-scale, or the geochemical behavior and form of the element. The chemical and mineralogical forms of platinum and its group are important in planning the methods of mineral exploration and extraction of the elements from of ferromanganese crusts. We attempted to characterize the distribution pattern within a cobalt-rich crust on the fine to microscopic scales by using reflecting microscope, scanning electron microscope/energy-dispersive spectroscopy, electron microprobe X-ray analysis (EPMA), ICP-mass spectroscopy, X-ray absorption near edge structure (XANES), small-focus XRF, and X-ray diffraction (XRD). These data indicated a wide range of Pt concentration from 150 to 700 ppb within a crust, though we found no distinct inter-element correlation or mineralogical control. Under the reflecting and electron microscope, no distinct Pt-bearing minerals or particles were identified. Small-focus XRF indicated no uneven distribution in any particulate matter, but all areas are less in abundance than the detection limit of about 10 ppm. Our tentative conclusion is that zero valence Pt0 (as suggested by XANES) is dispersed in the form of submicroscopic material most probably within ferromanganese minerals, and therefore, Pt-rich mineral particles may not be a major carrying phase.

Jan 1, 2005

By Alexander Malahoff

A shipboard research system capable of operating in waters of up to 2,000 meters has been designed and implemented by the Hawai'i Undersea Research Laboratory (HURL) of the University of Hawai'i. It uses a remotely-operated ocean bottom survey camera system, an ROV, the Pisces V submersible, and a submersible emergency recovery system, all aboard the 222- foot R/V Ka'imikai-o-Kanaloa. All systems are operated from the stern of Ka'imikai with a mounted Caley telearm and articulated A-frame system. The system was designed for multipurpose use of the ship for launch and recovery of the Pisces V submersible on a lift recovery line (with or without diver assistance), or night-time operations with an electro-optical cable using either the HURL ocean floor sidescan or photo and video system operated at 10 meters above the ocean floor. The 1.14-inch diameter cable is also used to operate an ROV system. The garage/ROV system can also act as a submersible rescue system with a submersible lift capability. The ship is equipped with a SeaBeam and shallow penetration sediment profiling systems. This integrated system approach to deep ocean floor research will make it possible for HURL to carry out research pro- grams on seamount ocean resources and ocean chemistry and climate in Hawai'i and the equatorial Pacific.

Jan 1, 1995

By V. K. Banakar, R. P. Rajani, A. R. Chodankar

The Afanasiy-Nikitin Seamounts (ANS) in Eastern Equatorial Indian Ocean (Figure 1) are shown to be the exposed part of the presently buried 85°E Ridge system under the Bengal Fan sediment and were emplacement around 75-80 m.y. ago (Krishna, 2003). The first recovery of ferromanganese crusts from the ANS was made during 1994, and the samples (Figure 2) provided important clues on the evolution of this seamount (Banakar et al., 1997).

By Carlos Almeida, Bruno Matias, Stef Kapuskiak, Eduardo Silva, José Miguel Almeida, Alfredo Martins

Underwater intervention operations have been supported by robotic systems such as remotely operated vehicles (ROV) for a long time. In particular challenging scenarios such as the deep sea, the use of ROV systems for environment awareness is in fact the main tool of choice. With the technical advances in autonomous robotics, there is an increased effort in substitute ROVs whenever possible for autonomous underwater vehicles (AUV). These systems don't have tether and thus provide large advantages from the operations and logistic point of view. However the limited options for underwater communications render them impracticable for many tasks were real time environment awareness and direct human control is needed. Emerging applications in underwater mining, both at sea [1] and in inland flooded mines [2] pose additional requirements in terms of operation support needs and environment restrictions. Two main tasks are to be addressed by assisting robots in these underwater mining operations: providing adequate environment awareness for human operators and obtain precise realtime 3D environment modelling (particularly relevant for the mining planning). The use of ROVs with umbilical cable, has in this case large limitations due to the nature of the mining cutting (performed by dedicated systems) that limit manoeuvrability and pose high risk of cutting the cable or damaging the vehicle. In this paper we present EVA (Exploration VAMOS AUV) an innovative hybrid ROV/AUV system developed for operations support in inland underwater mining operations. This robot is always operated without tether, and the can be used in a wireless ROV tele-operation mode using very short range high bandwidth underwater communication systems and in autonomous AUV mode.

Jan 1, 2018

By Bjørn Eske Sørensen, Kristian Drivenes, Przemyslaw Kowalczuk, Kurt Aasly, Gavyn Rollinson, Ben Snook

Efficient and successful mineral processing is dependent on detailed knowledge of the materials and minerals that are to be separated and concentrated. Common bulk methodologies such as XRD and XRF are fast and easy, and can provide an overview of the mineralogy and bulk chemistry of the material. However, they will not provide any textural information. Knowledge of the often intricate interaction between minerals in seafloor massive sulfide deposits is crucial in plant design for mineral processing. Samples from the Loki’s Castle hydrothermal vent have been characterized by X-ray diffraction (XRD), X-ray fluorescence (XRF), optical microscopy, Scanning Electron Microscopy (SEM), QEMSCAN, Electron probe microanalyzer (EPMA), and Electron Backscatter Diffraction (EBSD). Processing experiments used froth flotation and leaching techniques. The typical line of operation in ore characterization is shown in Figure 1. Mineral processing may be commenced after any stage of ore characterization. However, it is ideal to have completed as many steps in the ore characterization as possible in order to have the most information of the initial feed material. The main economic minerals in the samples are isocubanite (CuFe2S3), chalcopyrite (CuFeS2), and sphalerite (ZnS), with minor galena (PbS) and trace amounts of Au and Ag. The minerals show complex intergrowth textures down to the nanometer scale. These samples exemplify the need for advanced microtextural analyses to adequately characterize ore material prior to processing. The complex textures hamper the use of flotation as an efficient technique, due to the inability to sufficiently liberate the different minerals and problems with selectively floating isocubanite. Thus, leaching was the preferred method for extracting metals.

Jan 1, 2018

By Mike Woodborne

The marine diamond industry off south-western Africa is maturing rapidly. Some of the larger explorers have reached an advanced stage in their resource development and new mining operations have been started in the last year. Most of the major exploration, mining and marine engineering companies have offices in Cape Town. As a result of the increased activity and experiences to date, new approaches to marine diamond exploration and mining are now evolving. Primary factors contributing the new approaches are namely 1) the concentration of expertise in a localised area 2) the significant increase in the base of available exploration and production results and 3) parallel advances in the marine engineering design and geophysical survey equipment. The sea floor geology and setting of the marine diamond exploration areas is now better understood. Consequently the strategy for exploration and the selection of appropriate survey equipment is improved. Due to new equipment developments, different exploration alternatives now exist, depending on the programme objectives. Significant advances have also been made in the data processing and modelling undertaken to assist in the identification and targeting of potentially diamondiferous prospecting features. Similarly, the design of appropriate prospecting tools and programmes has also been improved. Following exposure to the requirements of the marine diamond industry, the design engineering and operating companies have responded with innovative designs for new prospecting tools. In recent years the availability of relevant information on marine diamond prospecting and production has increased. As a result, there is now sufficient basis for the construction of meaningful financial valuation models that can be effectively used to control and guide the exploration projects, to the benefit of both the explorer and the investor.

Jan 1, 1998

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