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By Rolf B. Pedersen, Ingunn H. Thorseth, Håkon Dahle, Ingeborg E. Øklandm, Linn M. B. Olsen

Weathering of sulfides and the generation of acid mine drainage (AMD) is a well- known environmental issue in on-land mining. The process can release potentially toxic compounds and heavy metals to the environment and is highly influenced by microbial activity. However, the weathering of sulfides in deep-sea environments is not well studied. In 2014 we therefore deployed two titanium incubators filled with freshly ground pyrite grains into an inactive part of the hydrothermal sulfide mound of Loki´s Castle vent field, aiming to study the in-situ seafloor weathering of the freshly exposed sulfides. Each incubator had five chambers placed in a depth profile, where the upper chamber was exposed to the bottom seawater. After one year of exposure, one incubator was collected and analyzed for weathering features and microbial colonization and community composition. In addition, one sediment core (25 cm deep) was collected from the sulfide mound in close vicinity to the incubators, and another core (45 cm deep) was collected from the (hemi)pelagic sediment just outside the sulfide mound. The cores were analyzed for geochemical composition of the solid material and porewater, and the microbial community composition aiming to define the redox zoning and dominating geomicrobiological processes in the natural deposits, and to unravel how these processes influence the mobility of heavy metals during sulfide weathering. Scanning electron microscopy (SEM) revealed development of Fe-oxyhydroxide weathering rims on the pyrite grains in the incubator chambers. Spalling of the rims on the most weathered grains, exposing fresh pyrite surfaces to oxidation, was commonly observed. The SEM investigation also revealed a positive correlation between weathering degree and microbial community density. Preliminary results from the microbial community analysis show a high relative abundance of putative sulfide oxidizers, suggesting that the community is governing the degradation of pyrite.

Jan 1, 2018

By Tetsuo Yamazaki

Natural methane hydrate has been scientifically studied as a carbon reservoir globally. However, in Japan, the potential for energy resource has been industrially highlighted. There is less domestic oil and natural gas resources in Japan, but many potential deposition areas for methane hydrate in ocean around Japan are the reasons. Less CO2 discharge from methane compared with coal, oil and conventional natural gas when the same calorie value we get is considered as the advantage for energy resource. However, because methane hydrate distributes in shallower sediment layer in ocean floor, accidental leakage of methane may occur while we utilize methane hydrate. Methane itself has 21-times impact on the greenhouse effect, if it reaches the atmosphere. Therefore, it is necessary to estimate the behavior in the environment after the leakage, if we want to use methane hydrate as energy resource. The mass balance after leakage of methane on seafloor and in water column is numerically studied through the analyses of methane emissions from natural cold seepages and hydrothermal activities in this research. The outline structure of mass balance ecosystem model shown in Fig. 1 is introduced. A numerical early diagenetic model CANDI (Carbon And Nutrient Diagenesis) developed by Boudreau (1996) for simulating the biogeochemical processes such as organic matter, oxidant, nutrient, bi-product, and pH diagenesis in aquatic surface sediments and C. CANDI improved by Luff and Wallmann (2003) for describing the formation process of calcium carbonates in CANDI are used as bases of the ecosystem modeling in surface sediment layer around seafloor methane emission. Two functions such as methane bubble dissolution and bacterial methane oxidation in water column are added to an existing physical plume dispersion model by Doi et al. (1999).

Jan 1, 2005

By Tetsuo Yamazaki

Manganese nodules, seafloor massive sulfides, and cobalt-rich manganese crusts in deep-sea areas have been considered as future metal sources (Mero, 1965; Halbach, 1982; Lenoble, 2000). Manganese nodules were the first recognized deep-sea mineral resource and many efforts concentrated on the R&D of mining systems (Welling, 1981; Herrouin et al., 1989; Yamada and Yamazaki, 1998) and assessment of environmental impacts (Burns et al., 1980; Foell et al., 1990; Yamazaki and Kajitani, 1999). No mining venture, however, has been active for this potential resource. The reason is that the rate of world economic growth has been slower than anticipated in 1960s. During the 10 year period of 1994-2003 (Fig. 1), on the other hand, there was about a 33% increase in the world copper demand. Of that increase, about 60% was consumed by China. Most of China?s increased copper demand took place over the final 4-5 years of that period. The growth is expected to continue for several years, and in 10 years or sooner the same situation is expected for India. Copper is the third metal in global demand, but its small abundance in the Earth?s crust is not well recognized (Table 1). From the production rate and the abundance, a copper shortage, or crisis, has a high probability than the other metals. Japan has no domestic copper resources and needs a counter measure for this potential coming copper shortage. Fortunately, Japan has a manganese nodule mining claim in the Clarion-Clipperton nodule field, Kuroko-type massive seafloor sulfide deposits in the Okinawa Trough and Izu-Ogasawara areas, and cobalt-rich manganese crusts around Okinotori-Shima and Marcus Islands. We need to re-evaluate their potential as copper resources and to realize their development.

Jan 1, 2005

By Lénaick Menot, Anne-Sophie Alix, Charline Guérin, Sébastien Ybert, Ewan Pelleter, Florian Besson

Ifremer, on behalf of the French government, holds an Exploration Contract with the ISA for polymetallic nodules in the CCFZ. As part of its exploration activities, the NODULE (2015) cruise was conducted to acquire a 50 m resolution bathymetric coverage of the eastern sectors of the Contract. In 2017, Ifremer initiated an update of the Contract’s mineral resource estimate. Metal grades and nodule abundance were modelled using ordinary kriging. The inferred mineral resource is 436 Mt (wet) of polymetallic nodules at an average abundance of 10.7 kg/m² with a cut-off grade of 7 kg/m². Based on the geological data, seamounts, sedimentary basins and steep slopes contain no nodules. Technical studies of most of the contractors have determined that nodule collectors could not maneuver on slopes above 5 to 10°. Thus, Ifremer has selected a quite conservative slope threshold of 7 % (about 4°) and a backscatter threshold of -29.5 dB to delineate nodule-free areas. This has a significant impact on the resource estimate, as about 54 % of the eastern Contract areas are excluded. Near-seafloor high-resolution mapping and photographic transects, associated with finer-spaced box-core sampling could constitute a next step to better constrain the mineable areas and to get a higher level of confidence in the resource estimation.

Jan 1, 2018

By Lénaick Menot, Anne-Sophie Alix, Charline Guérin, Sébastien Ybert, Ewan Pelleter, Florian Besson

Ifremer, on behalf of the French government, holds an Exploration Contract with the ISA for polymetallic nodules in the CCFZ. As part of its exploration activities, the NODULE (2015) cruise was conducted to acquire a 50 m resolution bathymetric coverage of the eastern sectors of the Contract. In 2017, Ifremer initiated an update of the Contract’s mineral resource estimate. Metal grades and nodule abundance were modelled using ordinary kriging. The inferred mineral resource is 436 Mt (wet) of polymetallic nodules at an average abundance of 10.7 kg/m² with a cut-off grade of 7 kg/m². Based on the geological data, seamounts, sedimentary basins and steep slopes contain no nodules. Technical studies of most of the contractors have determined that nodule collectors could not maneuver on slopes above 5 to 10°. Thus, Ifremer has selected a quite conservative slope threshold of 7 % (about 4°) and a backscatter threshold of -29.5 dB to delineate nodule-free areas. This has a significant impact on the resource estimate, as about 54 % of the eastern Contract areas are excluded. Near-seafloor high-resolution mapping and photographic transects, associated with finer-spaced box-core sampling could constitute a next step to better constrain the mineable areas and to get a higher level of confidence in the resource estimation.

Jan 1, 2018

By J. R. Woolsey

The cost of an offshore exploration project is mainly dependent on the size of the vessel engaged for the work and increases dramatically with increasing size. Of the various factors influencing vessel size, the type and size of the sampling equipment is typically the principal consideration. This scenario is particularly true of shallow sampling programs employing a vibracore system. The problem develops when certain bottom materials such as densely packed fine sand require sampling. This type of material being one of the most difficult for the standard vibracore systems, with integral core liner, to penetrate to a reasonable depth of some five to seven meters. The problem is mainly related to the excessive cross sectional area of the cutting bit required to accommodate the core liner. The typical solution has been to apply more power to the vibracore drive head which results in a considerable scale-up for the entire system with attendant increase in vessel size. In order to reduce operating cost, M.M.R.I. has developed several systems for deployment from vessels in the 20 meter range. Two systems are modifications to the basic vibracore and a third is a vibralift system. Basically, one of the vibracore units is employed where core liners are required, utilizing a special jet bit designed to reduce the cutting pressure on the bit while not affecting the integrity of the core. The other designed for core extrusion on

Jan 1, 1986

By Kaihui Yang

Volcanogenic massive sulfide deposits are generally considered to have been formed by hydrothermal fluids that leach ore metals out of footwall rocks. However, the necessity for a metal-rich magmatic component in the ore-forming fluid of "giant" ore deposits has been debated over the decades. The solution to this issue is important not only for metallogenic models but also for the mineral exploration. In the hydrothermal leaching model, massive sulfides at mid-ocean ridges are deposited from hydrothermal fluids containing 80 ppm Fe, 6 ppm Zn, 2 ppm Cu, 350oC, and 0.7 g/cm3 density (average data for 21oN East Pacific Rise). A simple calculation demonstrates that such a dilute fluid is unlikely to have been responsible for the formation of the largest ancient massive sulfide ores of greater than 100x106 tonnes, such as Kidd Creek, Brunswick No. 12, Neves Corvo, and Rio Tinto. For such a deposit consisting primarily of pyrite, sphalerite, galena and chalcopyrite (other minerals, including gangue, might account for an additional 10-20%) and even assuming 100% precipitation and retention of the sulfides, more than 790 km3 of vent fluid would be required. For typical water-rock reaction ratios of about 2, this fluid would have to have reacted with about 395 km3 of rock to acquire its metals by conventional leaching processes. This estimate, however, conflicts with the observation that even a giant massive sulfide ore body is usually underlain only by a few cube kilometers of obviously altered rocks. Moreover, this model is not consistent with the observation of hanging wall alteration in many large massive sulfide deposits. The close spatial association between massive sulfides and volcanic rocks, in both ancient and modern sea floors, suggests that direct magmatic contribution should be taken into account in the genetic model. Magmatic fluids, capable of carrying abundant ore metals and volatiles and escaping from magma by depressurization, are well known from modern active volcanoes on land. High concentrations of metals occur in CO2-rich magmatic fluid trapped in felsic volcanic rocks nearby large presently-forming VMS deposits in the eastern Manus Basin (Pacmanus, Suzette) and also in the footwall rocks of Ordovician giant Brunswick #12 deposit in the Bathurst district, New Brunswick. Only 1% of such metal-rich magmatic fluid mixed with heated sea water, that has leached its metals from rocks, would contribute 85% of the total metals to form an orebody. Such magmatic fluids are most likely to be formed from volatile-rich felsic magmas that are prevalent in back arcs, and, if added to the normal circulation system, the fluids could be responsible for the formation of "giant" ore deposits. If this is true, then the study of magmatic fluids in the seafloor volcanic rocks may provide criteria for the exploration of large ore deposits.

Jan 1, 2011

By André. C. Louw

Diamond production from the reworked beach and river channel gravels along the west coasts of South Africa and Namibia is well known throughout the world, not only for the exceptional quality of the diamonds, but also for the sheer scope of the operations. To date an estimated 140 million carats have been produced from the resource worth some US$40 billion in today's money terms. It is therefore not surprising that it didn't take long before the attention turned towards the possible extension of this valuable diamond resource on similar submerged beaches in the adjacent territorial waters of South Africa and Namibia. This has proved to be a very successful move as the marine production in Namibia today constitutes 48% of that country's total diamond production. Although small scale recovery of diamonds from the sea commenced in the 1950's, the first large scale production came from the operations of the Texan entrepreneur, Sam Collins, in the 1960's. The De Beers Group, which took over Sam Collin's operations in 1969 had all the concession areas, as well as the financial and human resources to tackle the new mining frontier in the correct way by years of data gathering (ie diamond reserves and seafloor terrain studies) before commencing with large scale mining operations in the 1980's. Those who are familiar with the beach mining operations along the South African and Namibian west coasts will have appreciation for the daunting task of surgically removing the payable portion of diamond deposits from the non-payable material on the one hand, and the complex uneven fractured and gullied bed-rock floor of the deposits on the other hand. Not to mention the additional complexities of large boulders and hard calcretised diamond gravel layers (conglomerate) which are sometimes associated with the deposits. It was a natural development that the sea diamond mining operations were approached with the known information of the land operations, attempting to duplicate land mining operations in the sea, but taking cognisance of the variations of the terrain in the different areas. For instance, we encounter the following variations, and combinations, off the Namibian Coast. ? Close inshore - holocene sand cover often masks large areas of potentially diamondiferous gravels. ? In midwater areas (40m - 100m)

Jan 1, 1998

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 Nii Allotey Odunton

One of the primary responsibilities of the International Seabed Authority?s Secretariat (the Secretariat) is to assess the quantities of metals present in seabed polymetallic nodules in the International Seabed Area under the Authority?s jurisdiction. To carry out this responsibility, the Secretariat periodically undertakes an assessment of the reserved areas in the Clarion-Clipperton region of the northeastern Pacific (CCZ) using the data submitted by the registered Contractors and maintained in the Authority?s POLYDAT database. The results of its most recent assessment demonstrated that the information submitted by the Contractors, though satisfactory for some purposes, does not permit the in situ quantities of metals in these areas to be estimated with a degree of confidence that is comparable to many land-based mineral resource estimates. Our strategy is to divide the work into two distinct but closely related efforts; one to draft a Prospector?s Guide that provides a narrative description of the key geological and oceanographic data that may be related to deposit abundance and metal content, and another that we call the Geological Model, that summarizes and documents the quantitative resource assessments accomplished in the project.

Jan 1, 2005

By Richard Harrison, Frank Lim

"Lifting of slurry from the seabed mining machine to the surface production vessel is a critical element of any deepwater seabed mining system. A Vertical Transport System (VTS) comprises pump(s), riser string, connectors and hang-off assembly as its main components, but it is the pipe material, riser configuration and installation method that often attract the most discussions.This presentation will feature important VTS design work 2H has done over the years for different stakeholders, and highlight the work carried out as a partner to the EU funded Blue Mining Joint Industry Project.The key challenges faced by a deepwater VTS are:??High riser payload??Large deck space for storing riser joints??Long time to deploy and retrieve riser??Uncertain metocean conditions??Vortex induced vibrations??Weld and connector fatigueIncreasing the water depth further sees the longer and increasingly ‘springy’ riser experiencing axial resonance caused by wave induced vessel heave motions being close to the riser resonant period. This can lead to snatch loading and fatigue failure in the riser.The presentation will discuss the above design issues, analysis requirements and provide guidance on pump/riser selection. Solutions to mitigate the resonant response issues will also be proposed.."

Jan 1, 2017

By Lisa Koch, Eleanor Martin

"Each underwater mining project is different. However, most have one thing in common: To be successful. We will draw on our experience advising hundreds of international clients each year on mining, offshore oil & gas and shipping matters to highlight some legal, commercial and practical issues to consider when structuring underwater mining projects. We will look at new ways of allocating risks and rewards in order to obtain much needed investment for underwater mining projects to commence both the exploration and exploitation phase.HighlightsRisk profileWe will look at a typical underwater mining project from the viewpoint of an investor and highlight some of the perceived risks, and potential mitigants.Contractual structureWe will analyse how the mining industry and oil & gas service industry have responded to low commodity prices to examine innovate contractual arrangements with suppliers and stakeholders, and how they can be tailored to the underwater mining industry. FinancingWe will explore some potential financing structures which could be relevant to the underwater mining industry."

Jan 1, 2017

By Brian Parsons

In June of 2013, Odyssey Marine Exploration conducted sea trials of the newly installed SeaBat 7150 full-ocean multibeam sonar system on the M/V Dorado Discovery over the Fierberling Guyot in the northeast Pacific Ocean. Fieberling Guyot is located approximately 990 kilometers west of San Diego, California and it rises abruptly from the deep ocean floor (~4300 meters) to a minimum depth of approximately 438 meters. The SeaBat 7150 operates at two distinct frequencies, 24 kHz (shallow to 3000 meters) and 12 kHz (full-ocean depth greater than 2000 meters). Onboard operational data are managed by a suite of state-of-the-art software. A SQL Server 2012 database provides the highly specific management and visualization tools as ArcGIS 10, Micromine 2013, and Geobank 2013 database. The 7150 is mounted on a gondola one meter lower than on previous system and greatly reduces bubble interference. The 7150 generates 880 beams

Sep 14, 2011

By Chris Roper

The Gavia Autonomous Underwater Vehicle is a two-man portable AUV that is capable of performing seafloor surveys in water depths to 2000 meters. The standard survey sensor suite includes a dual frequency side scan sonar and high resolution digital camera. Additional survey sensors are currently being incorporated into the Gavia AUV, include Sub Bottom sonar, Swath Bathymetry sonar and Multi Beam sonar. The modular design of the Gavia AUV allows the end user to quickly incorporate new sensors including client developed propriety sensors.

Jan 1, 2005

By David Gwyther

There is increasing recognition that in order for a development project to proceed successfully, it must first obtain a ?social licence to operate? from concerned stakeholders. Obtaining this ?licence? is in many ways a separate process to the legal one which involves, among other things, submitting an environmental and social impact assessment (ESIA) to the appropriate regulatory authority for review. Essentially, the function of an ESIA is to present a project?s technical, financial and social benefits, together with its environmental and social impacts in a transparent way to enable regulators to make an informed decision about whether the benefits outweigh the impacts, and thus whether or not the proposed project should proceed. The focus in the early days of ESIAs was primarily technical and was aimed to answer two fundamental questions: ?Can the project be built?? and ?Can we minimise impacts to a level that is acceptable to the community?? Basically, the ESIA process was a technical test of competence, but more recently, ESIAs have become much more than this. The main ESIA risk is now more akin to a test of a project?s legitimacy ? i.e., with more weight placed on the social licence, or the political test of moral authority ? with the process involving stakeholders from multiple backgrounds and disciplines, including some anti-development NGOs/civil society groups with their views on mining, (particularly in developing nations), often already pre-determined. Within the backdrop of this potential maelstrom, now enter a proposal for a new industry (such as deep sea mineral extraction).

Jan 1, 2011

By Peter E. Halbach, Andreas Jahn

Co-rich hydrogenetic ferromanganese crusts are typical marine interface products of growth processes taking place on sediment-free substrate rocks on the seafloor. They grow very slowly and preferentially in water depths below the oxygen-minimum zone (OMZ) and have so far been found even in water depths of up to more than 5000 m, i.e. also below the calcite compensation depth (CCD); these deep ferromanganese crusts are particularly rich in Fe. It is assumed that the O2-minimum zone is the most important source layer of dissolved manganese, the decomposition of fecal pellets here also contributes to this Mn-budget. The process of hydrogenetic precipitation is basically an inorganic colloidal-chemical as well as a surface-chemical mechanism. Microbial mediations can be assumed, in particular since steps of redox-reactions are involved. The two main components of the hydrogenetic substance are hydrated d-MnO2 (vernadite) and x-ray amorphous Fe-oxyhydroxide, both of which are intimately intergrown with each other forming the extremely fine-grained hydrous oxidic material. In seawater, elements occur as dissolved hydrated ions or as inorganic as well as organic complexes which, in general, have either a positive or a negative surface charge depending on the pH of the respective marine environment. These complexes form hydrated colloids that interact with each other or with other dissolved hydrous metal ions. The main agent to oxidize the dissolved Mn2+ ions is oxygen, transported upwards from deeper water by turbulent eddy diffusion and turbulent rise processes at seamount slopes.

Jan 1, 2017

By Yoshitaka Hosoi

The survey of the cobalt-rich crust of the Republic of the Marshall Islands was carried out in 1996 and 1998, as the cooperative study project between Japan and SOPAC member countries, and at the thirteen seamounts, seafloor topographic maps and acoustic reflection intensity distribution images by MBES were obtained, and the collection of samples by dredging was conducted. On the basis of the previous results, three seamounts, MS01, MS11 and MS12 were selected for the 2002 year survey, and drilling by BMS (deep sea boring system) was conducted there, to understand the occurrence of cobalt-rich crust. At the same time, environmental survey was carried out to make clear the environmental characteristics of the area. The summary of the survey will be reported.

Jan 1, 2003

By Daniel E. Walsh

The recovery of most minerals, which are amenable to gravity concentration, is standardly determined by accurate sampling and assaying. .With respect to particulate - gold ores, sampling and assaying are still the convention, but the accuracy and reproducibility of these operations are much discussed and debated points. Evaluation of gravity concentrators by conventional sampling and assaying techniques is very time consuming, costly and may introduce a large amount of uncertainty into the results due to the particulate nature of placer gold. These problems are not unique to placer gold ores and apply to any low grade ore with particulate values. A gravity concentrator evaluation process developed by MIRL employs the use of neutron activated gold (198Au) and radiation detection circuits which monitor the concentrator's product pulp streams. Concentrator recovery is determined from the ratio of the number of gold particles detected as passing into the concentrate to the total number of gold particles detected over all monitored pulp streams. This system eliminates the experimental errors introduced by sampling, sample reduction, and assaying and allows recovery to be evaluated for gold particles of specific sizes, shapes, and flatness. This system enjoys its greatest utility where a large number of tests are to be run in order to evaluate a concentrator over a variety of operational settings, i.e. factorial designs, and allows accurate testing of concentrators operated in closed circuit systems. Beginning in 1984, MIRL conducted radiotracer studies of unit processes, which included jigging, static wedge wire screening, elutriation, and concentration with compound water cyclones.

Jan 1, 1989

By Sup Hong

"Lifting riser in deep-seabed mining (DSM) is exposed to acute and chronic stresses of materials, whose yield will result in the most critical loss of total mining system. For freehanging riser (FHR), the axial vibration and local bending of riser may produce acute stresses, in the meanwhile, vortex-induced vibration (VIV) in relative current, friction and collisions of solid particles with inner-wall, and material corrosion in seawater are representative causes of chronic stresses. The chronical stresses bring about fatigue failure or abrupt failure by material loss. Hydraulic lifting is effective and promising for transportation of minerals, however, ecofriendly treatment of operating seawater is an unease hurdle to come over. Sizing of riser section confronts multi-directional problems, i.e. safety of slurry transportation (flow assurance), material safety of riser (wall thickness), seawater treatment on board, etc.A free-standing riser (FSR) might exclude a part of design problems of free-hanging riser and give a way to sustainable mining. FSR stands vertically by means of sub-buoyancy part(s). The top of FSR emerges above sea surface and is connected with mining platform through jumper line (supported by external yoke). Total amount of sub-buoyancy and location(s) have to be carefully determined in viewpoints of dynamics of FSI (fluidstructure interaction) in waves and currents. The concept of FSR gives more freedom for design of multi-functional riser system in view of sustainability of DSM. In DSM, sustainability concept may be focused on eco-friendly treatment of seawater and sediment, and safety of total mining system. For feasibility of FSR, however, installation, maintenance and repair need to be investigated thoroughly in collaboration with industry experts"

Jan 1, 2017

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