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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 Carl H. Hobbs

The marine mineral resources of the U.S. middle and south Atlantic shelf are little utilized. The largest resource, sand and gravel, is used for beach nourishment and protection and, to a much lesser degree, as construction aggregate. The potential for increased utilization is great. Submarine deposits of shell have been mined for lime and for use in the oyster industry. Although significant quantities of manganese nodules and crusts are present on the Blake Plateau, exploitation in the foreseeable future is unlikely. Similarly, major phosphorite deposits in North Carolina's inner shelf probably will remain unexploited as long as onshore deposits remain available. Placer deposits of heavy-mineral sands, especially the titanium minerals, offer the possibility of exploitation. This possibility might be enhanced by consideration of joint development of sand or aggregate with heavy minerals.

Jan 1, 1992

By ?. V. Kabanov

n considered operation hydraulic and kinematic circuits of deep-water installation for sampling a ground from a sea-bottom are submitted. Control by setters is made remotely from a service station with the help of a system of telemechanics. Migration of apparatus along a bottom is ensured with the help of force of a response of a jet and Archimedean force. The mathematical exposition of the device composed and computer simulation is Design parameters are defined and static performances are obtained. Operation is in a stage of manufacture of working drawings. There are patents of Russia.

Jan 1, 2005

By Karstein Vestgard

During the last few years autonomous underwater vehicle (AUV) technology has evolved from concept demonstrators towards commercial products. The driving forces are the move for energy exploitation towards deeper waters, naval applications and the Internet driven need for more intercontinental underwater communication cables. Other applications emerging for the future will be within environmental research and monitoring and deepwater exploration. Deepwater developments beyond the continental shelf will require the same level of survey data quality and intervention access as established for shallow water. The potential for cost savings is two folds. Firstly, there is a reduction in the survey cost it self and secondly there is a considerable cost saving by avoiding over design of subsea installations due to lack of sufficient documentation of the field. In this scenario, there is an increasing understanding that underwater robotics and in particular AUVs will play an important role in future survey and subsea engineering work. The AUV as a free swimming underwater survey sensor carrier has several advantages compared to cable controlled ROV?s and deep towed systems: The paper prepared for the ?Underwater Mining Institute 2003? on Jeju Island, Korea will focus on the HUGIN AUV concept and field results to date.

Jan 1, 2003

By Ivo Dreiseitl

The interaction between nodule harvester and eupelagic sediment on the seabed is definitely one of the key aspects of mining technology for polymetallic nodules which is to be studied in details. Physical properties of sediments play major role for evaluation of protection and preservation of marine environment while strength properties of sediments will come in useful for future mining operations. Cone penetration test (CPT) used for testing in situ is one of methods for investigation strength properties of sediments. The testing apparatus for CPT consists of an instrumented cone having a tip facing down and it is mounted on special underwater equipment (rus. UGI-1). UGI-1 can determine subsurface strength down to the depth interval 0 ? 1.10 m. Special IOM geotechnical cruise was accomplished in 1989 on board R/V Academic A. Karpinski within the extra test area of about 1000 km2. Thanks to UGI-1 the IOM database recorded unique strength sediment data (cone penetration resistance) from 279 seabed points of sounding at profiles 125.6 km long. Up to 35 strength data from depth interval 0-1.1m (every 3cm) were obtained from any particular testing point. As a result 279 strength charts could be plotted (two examples in Figure 1). The cone penetration resistance values can be correlated to shear strength parameters.

Jan 1, 2011

By Tetsuo Yamazaki

Natural methane hydrate has been scientifically studied as a global carbon reservoir. However, in Japan, it?s potential as an energy resource has been industrially highlighted, because there are few domestic oil and natural gas resources in Japan, but many potential deposition areas for methane hydrate in the sea around Japan. Less CO2 discharge from methane compared with coal, oil and conventional natural gas for the same calorie value is considered an advantage for its use as an energy resource. Because methane hydrate is distributed at shallow depth in sediments on the ocean floor, accidental leakage of methane may occur while we utilize methane hydrate. Methane itself has a considerable impact on the greenhouse effect, if it reaches the atmosphere. Therefore, it is necessary to estimate its behavior in the environment after leakage if we want to use methane hydrate as energy resource. The mass balance after leakage of methane on the seafloor and in the water column can be studied through the analyses of natural cold seepages and hydrothermal activity.

Jan 1, 2004

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

Clark volcano is a large volcanic center on the active arc front of the intraoceanic Kermadec arc. It is one of the two southern-most Kermadec arc volcanoes (the other being Whakatane volcano) that sits on oceanic crust before the transition to continental New Zealand, and is underlain by the 17-km-thick Hikurangi Plateau, which is presently subducting beneath the southern section of the Kermadec arc. Unusual K-rich basaltic lavas have been recovered from Clark (1.5 to 2.25 wt.% K2O), together with more typical basaltic-andesite, andesite and dacite rocks. The total volume of the Clark volcanic center is ~90 km3, calculated from the summit of the volcano down to the 2,500 m contour (which marks the inflection point of the volcano flanks with the surrounding seafloor) and comprises two separate edifices similar in size; the northern one having a volume of ~4.57 km3 and the southern one 4.43 km3. The volcano has a maximum relief of ~1,645 m from the 2,500 m contour to the summit of the shallower northern edifice shoaling to 855 m below sea level. The northern edifice is comprised of twin peaks each consisting of a constructional cone, with evidence of sector collapse having occurred between the cones. A more recent, smaller cone again has grown on the eastern flank between these summit cones. Massive, blocky lavas and coarse talus dominate the summits of the cones, with finer-grained volcaniclastic material and sediments a feature of the volcano flanks. The southern edifice is noticeably more dissected than the northern one, having a pronounced horst in the centre of the volcano bounded by 5-6 km-long faults. There is no obvious constructional cone atop the southern volcanic edifice.

Jan 1, 2011

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 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 Mark Vardy, Kate Dobson, Isobel Yeo, Paul Lusty, Bramley Murton

In response to anthropogenic climate change, the way in which we use and generate energy is changing. To facilitate these developments, it is essential that we increase and diversify the supply of ‘E-Tech’ elements essential for cleaner energy generation and more efficient usage. The vast majority of these materials (e.g. cobalt, lithium, niobium, platinum group metals, rare earth elements and indium) come almost exclusively from mining and new resources must be found and developed in order to secure supply and meet the demands of the future. Ferromanganese (FeMn) crusts are rich in cobalt, tellurium and rare earth metals, and are common on seafloor hard grounds at water depths over 1000 m. The mining of both FeMn crusts and nodules is potentially viable dependent of the balance of cobalt and nickle prices (Martino & Parson, 2012), however, crusts need to be at least 4 cm thick with cobalt contents of at least 0.8% (International Seabed Authority, 2008). The difficulty for those wishing to exploit these resources is firstly finding them, and secondly assessing their potential remotely. Such capability would not only save time and money, but also allow mining operations to be more focused, reducing needless destruction of seafloor habitats from exploratory mining or mining of noneconomically worthwhile deposits. In this contribution, we examine the distribution of crusts on a single Atlantic Gyot (Tropic Seamount), the morphology of FeMn crusts, their variable growth patterns and the characteristic geophysical response from crusts in various datasets, including ship based 60 m resolution multibeam and high resolution bathymetry, backscatter and sub-bottom profiler data acquired using an Autonomous Underwater Vehicle (AUV).

Jan 1, 2017

By Fredrik Søreide

Several potential marine mineral deposits of various types have been identified within the Norwegian EEZ. The Norwegian University of Science and Technology has recently designed and built a new remotely operated vehicle (ROV) system for scientific investigations of the deep-ocean and seafloor. A program to locate and investigate the most interesting of the identified marine mineral deposits using the new ROV system is underway. The ROV has been designed for detailed survey and sampling tasks. Although initially built for a major marine archaeology project, the design is equally suited to locate and investigate marine mineral deposits. The ROV is equipped with a high precision multi-sensory package that consists of various high quality cameras and lighting systems (together with state-of-the-art video and photo mosaic systems), several sonar systems, magnetometer and various other sensors. The ROV is also equipped with a 7-function manipulator arm and an excavation system. Internal collection baskets are used to store material for retrieval to the surface. A closed-loop control dynamic positioning system is used for detailed positioning of the ROV. Position data and other information are stored in a digital data management system. The ROV will also be used together with a specially developed remotely operated tool (ROT). The size and shape of this benthic lander can be adjusted before it is carefully lowered to the seafloor. The ROV can be docked on a moving platform on the ROT, to do detailed scientific investigations. The ROT can also be equipped with a separate sensor and system package, including drilling, excavation and coring units. This paper will present the new remotely operated system and the planned projects in Norway.

Jan 1, 2004

By Chris Castle

The Chatham Rise is a submarine topographic feature lying off the east coast of New Zealand between the South Island and the Chatham Islands and within New Zealand?s jurisdiction. The Chatham Rise hosts economically significant deposits of rock phosphate and other potentially valuable minerals. The deposits comprise nodules lying on, or just below the surface of the seabed in shallow waters. Rock phosphate is an essential ingredient of fertilizer and can be applied directly to pasture. There is a realistic opportunity the phosphate deposits could supply New Zealand?s agricultural requirements for an estimated 30-year period at current rates of consumption.

Jan 1, 2011

By William D. Siapno

Mining the deep ocean by the year 2000 may seem far fetched. The year 2000 is but a decade away, a scant 10 years. Remember, the youngsters of today will grow up in a little more than a decade and rebut the wisdom of the ages, especially the traditions of their elders. Rude perhaps, but none the less a fact of life. Ocean mining exhibits many of these same traits. We should all brace ourselves for some rude shifts in our rapidly moving society. Major shifts in economics, politics, and social orders are the rule of the day. Communism is in retreat, our own economic structures chaotic. So in this moment of cataclysmic change, a shift in the international market place of mineral resources should not be a great surprise.

Jan 1, 2011

By Ning Yang, Yuxiang Chen, Ming Chen

An ultraviolet laser Raman spectrometer was developed to detect and analyze material components of seawater, seafloor sediment and rock at a depth of 7000m maximally. Wave length of the excitation resource of the spectrometer is set to 355nm, which can enhance eigen scattered intensity and detecting sensitivity, and avoid fluorescence interference. Miniaturization design was adopted for deep-sea application. Design of the optical system and pressure cartridge, material selection and seal design of the observation window, and design of the Lithium batteries are the key technologies in the procedure of research and development. The spectrometer was carried by a Lander sank to sea bottom of the Pacific's Mariana Trench for verification. During the sea trials, data acquisition for Raman spectra was conducted for analyzing seawater in the detection area, and the spectrometer was verified synthetically. According to the data, the spectrometer is stable and practicable with high resolution and precision, and it is appropriate to detect and analyze composition of substance under the tremendous ocean.

Jan 1, 2017

By H. Oda, L. E. Fong, K. K. McBride, B. P. Weiss, F. J. Baudenbacher, A. Usui

Fine-scale dating is a key parameter in characterizing the growth history of hydrogenetic ferromanganese crusts. We once compared several dating methods, micropaleontological (calcareous nanofossil), radiometric (10/9Be), and paleomagnetic (step-wise measured inclination) methods on single samples, but these independent methods were not consistent with each other (Joshima & Usui, 1999). For example, a 4-cm thick crust was dated as 3Ma by the fossil-paleomagnetic combined method, while it dated older than 5.5 Ma by Be-10 dating. This discrepancy suggests a question if the Be-10 radiometric method can give us false ages or growth rates (Usui et al., 2002) because of post-depositional change, diffusion or other reasons. In order to answer the question, we conducted ultra-fine magnetostratigraphy with a SQUID microscope on the same hydrogenetic Mn crust sample. Rock magnetic measurements revealed that the main magnetic mineral is well dispersed single domain grains, which is typical to magnetite but not yet specified (Oda, 2005).

Aug 24, 2006

By Yanis Miezitis, Gerald Mueller, Timothy F. McConachy, Ronald G. Sait, Keith R. Porritt, William J. McKay

In November 2004, Australia lodged with the United Nations Commission on the Limits of the Continental Shelf possible new maritime boundaries in relation to Australia’s continental shelf extending beyond 200 nautical miles from the Territorial Sea Baseline (Colwell and Symonds, 2005). If agreed by the commission, just over half of Australia’s land mass will lie below the sea, and Australia will have one of the largest marine jurisdictions in the world (14.41 million km2). With this jurisdiction comes a responsibility to manage and sustain the marine environment (McConachy, 2006). Knowledge of minerals and their resource potential is part of this responsibility but is generally poorly known (McConachy, 2005).

Aug 24, 2006

By G. Cherkashov

The geodiversity of seafloor massive sulfides (SMS) deposits at the slow- and ultra-slow spreading ridges is of great variety (Fouquet et al., 2010). Tectonics and magmatism are the two principal factors which control SMS formation and localization. The geological setting of SMS deposits is determined by their position relative to the rift valley and by the types of rocks hosted (Table 1). Depending on the first parameter, SMS deposits could be localized at [ ] the axial volcanic ridge or at the flank of the rift valley. Basalts, deep-seated gabbro, and serpentinized peridotites are distinguished among the hosted rocks. The outcrops of deep-seated rocks are exposed at the flanks of the rift valley. The tectonic mechanism of the lower crust and mantle rocks exhumation process is connected with very large offsets along the detachment faults, resulting in a forming oceanic core complex (OCC) (Smith et al., 2006; MacLeod et al., 2009). The SMS related to OCCs are represented by such ore clusters as Ashadze, Logatchev, Semyenov, and some others (Table 1) and are increasing steadily in number. This fact in combination with widespread OCC formation at the slow-spreading ridges (Escartin et al., 2008) and high grades of metals in SMS related to OCCs has provoked considerable scientific and economic interest in these types of deposits. It could be mentioned in this regard that the first two applications to the International Seabed Authority for prospecting and exploration of sulfides have been submitted for the areas in the spreading centres with wide distribution of the core complexes.

Jan 1, 2011

By William C. Hirt

Column flotation is a promising technique for processing as-mined, cobalt-rich, ferromanganese crust to separate the valuable crust component from barren substrate-rock, either aboard ship or within the water column. Column flotation testing was carried out in a seawater medium using samples obtained from the U.S. Exclusive Economic Zone (EEZ) in the mid-Pacific Ocean near Johnston Atoll. The collector reagent was a mixture of diesel fuel, fatty acid, and sulfonate previously developed at the U.S. Bureau of Mines for crust flotation using conventional flotation cells. Results are dependent upon particle size and reagent dosage, especially *as these factors affect froth volume and stability. Column flotation results are compared with previous studies in conventional cells. An overview of how column flotation might be applied in an offshore mining and processing system is given.

Jan 1, 1992

By J. Robert Woolsey

The Marine Minerals Technology Center (MMTC) was established by Congress in FY 1988 as part of the Mineral Institutes Program, administered by the U.S. Bureau of Mines under the auspices of the Department of the Interior. The primary objective of the MMTC is to encourage the development of selected mineral materials from U.S. seabeds by providing opportunities for appropriate engineering systems research, development, and technology transfer within academic, government, and industrial communities. The center will also provide the leadership and facilities required for the education and training of the nation's scientists and engineers in the field of ocean mineral development. Because of the broad spectrum of study encompassed by the field of ocean mining and mineral resources, the MMTC is organized to include separate divisions for nearshore and deep ocean research. The Continental Shelf Division is administered by The Mississippi Mineral Resources Institute (MMRI) of the School of Engineering at The university of Mississippi. Operational activities will be based at the John C. Stennis Space Center near Bay St. Louis, Mississippi and the Gulf Coast Research Laboratory, Ocean Springs,

Jan 1, 1988