履带式深海采矿车软底质行走性能分析

海底底质的物理力学参数不同于陆地土壤,其极低的抗剪强度和承压强度对深海采矿车的行走性能提出高要求。分析基于车辆地面力学理论,开展了底质土力学特性试验研究,建立了深海底质力学模型。根据深海重载作业采矿车样机结构参数,在大型动力学仿真软件Recurdyn中建立了仿真模型。通过直线行走多体动力学仿真与直线行走海试试验的对比,验证了仿真模型的准确性。在此基础上开展了采矿车样机在深海软底质上的多种行走工况动力学仿真,分析与评价其行走性能。结果表明,采矿车样机可以顺利完成转弯、爬坡、越障等基本功能。该研究成果可为深海采矿车海底行走性能评估提供理论参考,为深海采矿车和软底质的相互作用力学研究提供借鉴。     

深海大型爬行机器人研究现状

对海底不同作业形式的深海大型爬行机器人进行了分类综述，依据当前深海大型爬行机器人在各方面的应用，将其分为了深海采矿机器人和深海挖沟机器人两大类，并对这两类中的一些性能突出的机器人进行了详细的介绍。重点介绍我国第一代、第二代多金属结核采矿机器人，SMD的3个多金属硫化物开采机器人，中科院深海所的富钴结壳规模采样爬行机器人，喷射式挖沟爬行机器人QT2800和机械式挖沟爬行机器人BT2400。并对深海大型爬行机器人的海底复杂行走技术和导航定位技术进行了阐述。行走技术方面，重点介绍Nexans公司的带有铰接式行走腿系统的Spider Dredger，中南大学的铰接履带式采矿机器人和北京矿冶研究总院的复合轮式机器人。导航定位方面，介绍了当前一些在用的深海导航定位技术。最后，对未来深海大型爬行机器人的发展趋势进行了展望。     

Deep-Sea Impact Experiments and their Future Requirements

In recent years, several experiments to assess the potential impacts due to deep-sea mining in the Pacific as well as the Indian Oceans have indicated the immediate changes and restoration patterns of environmental conditions in the marine ecosystem. The large volume of sediment(~ 500 × 10⁷ m³ per year) estimated to be resuspended would be the major influencing factor in environmental impact in the mining area, leading to changes in availability of certain nutrients and composition of biomass, followed by gradual restoration. Important results have been obtained from these experiments, but in order to have a better understanding of the impacts and restoration processes, it will be necessary to improvise future experiments to resemble actual deep-sea mining in terms of scale and methodology.     

深海采矿转臂机构采矿姿态优化研究

针对海底地形不平坦特性,提出了一种变幅机构来自适应海底地形采矿姿态的采矿机构。综合考虑采矿机构采掘头距海底高度对采矿率影响,利用关键点法建立了节臂上的点到海底地形距离的数学模型。在此基础上,建立了以采矿率最高为目标的最优采矿姿态数学模型。以某实际地形为例,采用模拟退火遗传算法优化求解最优采矿姿态。根据其优化后结果可知,其最优采矿姿态与海底地形坡度变化一致,从而证明了采矿姿态模型的正确性。     

Optimization design of bionic grousers for the crawled mineral collector based on the deep-sea sediment

Abstract

Due to the low shear strength of deep-sea sediment, crawled mineral collector is easily slips in the deep-sea mining process, therefore, high-traction bionic grouser is needed to be studied to improve the working efficiency. Based on the rate-dependent characteristics of deep-sea sediment, a rate-dependent extended Drucker-Prager material constitutive model is used to define the deep-sea sediment. The Arbitrary Lagrange-Euler finite element (LEA-FE) was used to simulate the cutting process of different bionic grousers at different speeds. By comparing the simulation of different grousers, it was found that the maximum traction of grouser is related to the grouser parameters (distance L from the top to the curvature change point and curvature radius R). By analyzing the traction characteristics of different bionic grousers, the binary quadratic regression equation between maximum traction and bionic grouser parameters was established and the best bionic grouser parameters were obtained by the optimization algorithm. Based on the rate-dependent properties of deep-sea sediment, the traction characteristics at different speeds were analyzed and the relationship between maximum traction and speeds was established, the best bionic grouser walking speed was obtained, which can provide the theoretical basis for the crawled mineral collector.     

Compression–shear coupling rheological constitutive model of the deep-sea sediment

In deep-sea mining engineering, the compression–shear coupling effect of the sediment on the moving tracked mining vehicle must be considered, since it is proved to be existing in compression–shear creep test of the sediment simulant. Based on the endochronic theory, the compression–shear coupling rheological model is established by the definition of intrinsic time and calculation of deviatoric tensor, where the coupling rheological parameters can be obtained by the compression–shear creep test. For simulating sinkage and traction force of the moving tracked mining vehicle, the compression–shear coupling rheological model as well as compressive rheological model and direct shear rheological model (regardless of coupling rheological effect) is programmed and introduced into RecurDyn software (with only traditional elastic–plastic constitutive model) for comparison. Research results show that the sinkage is the largest, and the traction force is the smallest under the compression–shear coupling rheological model, which could better reflect the worse working situation. The compression–shear coupling rheological model could provide theoretical basis for optimal design and safety assessment of the tracked mining vehicle.     

Effects of Direct Ocean CO<Subscript>2</Subscript> Injection on Deep-Sea Meiofauna

Purposeful deep-sea carbon dioxide sequestration by direct injection of liquid CO₂ into the deep waters of the ocean has the potential to mitigate the rapid rise in atmospheric levels of greenhouse gases. One issue of concern for this carbon sequestration option is the impact of changes in seawater chemistry caused by CO₂ injection on deep-sea ecosystems. The effects of deep-sea carbon dioxide injection on infaunal deep-sea organisms were evaluated during a field experiment in 3600 m depth off California, in which liquid CO₂ was released on the seafloor. Exposure to the dissolution plume emanating from the liquid CO₂ resulted in high rates of mortality for flagellates, amoebae, and nematodes inhabiting sediments in close proximity to sites of CO₂ release. Results from this study indicate that large changes in seawater chemistry (i.e. pH reductions of ∼0.5–1.0 pH units) near CO₂ release sites will cause high mortality rates for nearby infaunal deep-sea communities. This revised version was published online in July 2006 with corrections to the Cover Date.     

Deep-Sea Nodules and Co-rich Mn Crusts

The mining of deep-sea manganese nodules has been a topic of interest since J.L. Mero undertook his preliminary studies in the 1960s to evaluate the prospects for mining deep-sea nodules. Despite the great deal of investment in deep-sea mining over more than 40 years, there has still been no successful attempt to mine the deep-sea nodules on a commercial scale. One of the major problems is that the nodules cannot be brought to the surface with the necessary amounts of recoverable nickel, cobalt and zinc to warrant the initial high investment necessary for this operation. It therefore appears that in the short term, deep-sea manganese and Co-rich Mn crusts will not be mined on a commercial scale in the foreseeable future. Nonetheless, investigations of deep-sea mineral deposits by a number of nations will continue and enable us to understand the deep-sea environment in increasing detail, which is necessary in view of the great extent of the deep oceans which cover an area of about 66% of the Earth's surface.     

深海能源土含气储层力学特性三轴试验研究

为研究深海能源土在负压开采过程中含气储层的力学特性,基于含气土赋存理论,提出一种能够控制含气量及气泡大小的制样方法,通过GDS标准应力路径三轴试验系统,开展深海能源土含气储层的固结排水试验研究,分析深海能源土在不同黏土含量及不同含气量下的力学响应规律。研究结果表明：围压变化对深海能源土含气储层的抗剪强度峰值大小影响显著,围压越大抗剪强度峰值越高;黏土含量是决定应力应变曲线变化趋势的关键影响因素,黏土含量越高试样抗剪强度越低,试样抵抗应变软化效应的能力越强;含气土比饱和土体承载能力更低,且承载能力随含气量的增大呈衰减趋势;黏土含量和含气量是深海能源土含气储层抗剪强度指标的重要影响因素,黏土含量、含气量越高,土体自身的总抗剪强度值越低。     

Characteristics of Seafloor Morphology and Ferromanganese Nodule Occurrence in the Korea Deep-sea Environmental Study (KODES) Area,NE Equatorial Pacific

Abstract

Seafloor morphology and ferromanganese nodule occurrence were studied using a multibeam side scan sonar (SeaBeam, 2000) and a deep-sea camera system in the Korea Deep-sea Environmental Study (KODES) area, northeast equatorial Pacific. Seafloor morphology and nodule abundance are highly variable even in this small study area. The NNE-SSW oriented hills are parallel and about 100–200 m high. Valleys are very flat-floored, while hilltops are rugged with depressions of tens of meters. Cliffs to about 100 m bound the valleys and the hills. The study area can be classified into three types based both on nodule occurrence and seafloor morphology, mostly G- and B-types and some M-type. G-type is characterized by high nodule abundance, ubiquitous bioturbation, and flat seafloor morphology, while B-type is characterized by irregular-shaped nodules, variable nodule abundance, occurrence of giant nodules and sediment lumps, rugged bottom morphology with depressions, and white calcareous surface sediments. Medium nodule abundance and a generally flat seafloor characterize M-type. G-type occurs mostly in the valley regions, while B-type is on the hilltop areas. M-type is located between the hilltop and the valley. Tectonic movement of the Pacific plate resulted in the elongated abyssal hills and cliffs. The rugged morphology on hilltops resulted from erosion and redistribution of surface siliceous sediments on hilltops by bottom currents, outcropping of underlying calcareous sediments, and dissolution of the carbonate sediments by corrosive bottom water undersaturated with CaCO₃. Sediment eroded from the hills, which is relatively young and organic-rich, is deposited in the valleys, and diagenetic metal supply to manganese nodules in the valley area is more active than on the hills. We suggest that tectonic movement ultimately constrains morphology, surface sediment facies, bottom currents and sediment redistribution, bioturbation, thickness of the sedimentary layer, and other conditions, which are all interrelated and control nodule occurrence. The best potential area for mining in the study area is the G-type valley zones with about 3–4 km width and NNW-SSE orientation.     

Restoration of Deep-Sea Macrofauna after Simulated Benthic Disturbance in the Central Indian Basin

ABSTRACT

Macrofaunal communities of the Central Indian Basin (CIB) were sampled with a spade before (June 1997), and immediately after (August 1997), and 44 months (April 2001) after a simulated benthic disturbance for polymetallic nodule mining. The average density recorded down to a sediment depth of 40 cm ranged from 89 to 799 ind·m^?2 (mean: 373 ± 221 SD; n = 12) and 178–1066 ind·m^?2 (mean: 507 ± 489 SD; n = 3) in the test and reference area, respectively. Most of the macrobenthic animals (64%) were concentrated in the upper 0 to 2 cm sediment layers, whereas, sizeable fauna (6%) inhabited the 20–40 cm sediment section and the deepest 5 cm section from 35–40 cm contributed only about 2% to the total population density. The fauna, comprised of 12 groups, were dominated by the nematodes, which constituted 54% of the total population. The macrofaunal density in the test site showed a significant increase (x:400 ind·m^?2) in the 44 months postdisturbance sampling (x:320 ind·m^?2). The population of nematodes and oligochaetes was nearly restored after 44 months, but the polychaetes and crustaceans did not reach the baseline populations measured in June 1997. The top 0–2 cm sediment layer was severely affected by the disturber, and the study suggests that physically disturbed deep-sea macrofauna may require a longer period for restoration and resettlement than normally believed.     

北极深海沉积物中细菌和古菌群落结构研究

在北极深海沉积物生态系统中,微生物的群落结构由有机质输入、能量的可用性及其他环境因素决定.然而,全球气候变暖及其导致的冰盖提前融化正在影响微生物的多样性.为描述北极深海沉积物中的微生物群落结构及其与环境因素的相关性,我们利用罗氏454对北极深海沉积物样品的16S rDNA扩增子进行了测序,对细菌和古菌群落的丰富度、成分、结构及其系统发育分类地位进行了描述.硫还原和化能有机营养类是细菌群落中的主要类群;而古细菌群落主要是由微生物的关系最为密切的氨氧化奇古菌门(96.66%)和产甲烷古生菌界(3.21%).这项研究描述了北极极点附近深海沉积物(> 3500米)中的微生物多样性,将为以后研究类似环境中微生物代谢过程和途径等功能分析奠定基础.     

Environment and Deep-Sea Mining: A Perspective

Abstract

As the quest for deep-sea mineral resources is gaining momentum, environment and ocean mining have become important aspects of study. Because many of these deposits occur in international waters, the concern for environmental conservation in view of the effects of deep-sea mining is resulting in these effects being studied in different oceans, and efforts to develop regulations governing this exploitation are also underway at national and international levels. The impact assessment of deep-sea mining needs to encompass a variety of subjects, including environmental, socioeconomic, technological, and legal aspects. At the same time, effects of in situ environmental conditions on mining activities also need to be considered for effecient performance by the mining system. Differences in the degree of impact have been noticed during the mining simulation experiments by different investigating agencies. Therefore, interparameter comparisons, standardization of methods, and improvement in mining design are important considerations for proper utilization of resources, conservation of environment, and cost efficiency of the mining operations.     

Effects of lime treatment on the geotechnical properties of dredged mud

Abstract

The preloading method has been widely applied in land reclamation as a green and economical approach to ground improvement. To improve the consolidation behavior, the addition of lime generally improves soil performance. In this article, a modified oedometer equipped with a tactile pressure sensor and a bender–extender element is employed. The effects of lime treatment on the geotechnical properties of dredged mud are investigated; these properties include the coefficient of the earth pressure at rest (K₀), settlement, drainage behavior, and evolution of the elastic wave velocity. The results reveal that the addition of lime not only influences the specimen’s deformation behavior but also influences its shear strength during and after loading. Combined with the evolution of the elastic wave velocity, the microstructural evolution of the specimen could be described and explained. It is concluded that a compressional wave is more sensitive to the change in the specimen’s void ratio and saturation. For K₀, initially (<25?kPa), the higher the lime content is, the greater the K₀ fluctuation is. Afterwards, the higher the lime content is, the smaller the K₀ fluctuation is, and finally K₀ slowly approaches approximately 0.2.     

我国海底热液活动研究的阶段性进展与展望

海底热液活动调查研究是深海进入、深海探测和深海开发的切入点之一。近十年来,中国在西太平洋弧后盆地、东太平洋海隆、大西洋洋中脊和印度洋脊,发现了一批新的海底热液活动区,围绕着热液活动区的硫化物、流体、热液柱、生物等热液产物开展了调查研究,构建了海底热液地质学,提出了热液活动、冷泉及天然气水合物的同源异汇假说,出版了《海底热液地质学》、《现代海底热液硫化物成矿地质学》、《现代海底热液活动》、《东太平洋海隆热液地质》专著,获得了一批调查研究成果。未来,聚焦海底热液活动的深部过程及其资源环境效应关键问题,发展海底热液活动探测技术,拓展极地海底热液活动调查研究新领域,围绕烟囱体、热液柱、含金属沉积物、流体以及热液区生物等热液产物,开展深入、系统的调查研究工作,无疑将推动海底热液地质学取得新的进展。     

深海多金属硫化物瞬变电磁激电效应初探

瞬变电磁法是深海多金属硫化物勘探的有效手段。海底多金属硫化物中高品位的金属组分会引起极强的激电效应，且对瞬变电磁响应产生显著影响。本文通过实验室测量和数值模拟对深海多金属硫化物的激电效应进行了探讨和分析。首先对西南印度洋中脊热液区的岩矿石样品进行了较为系统的电性测试，典型硫化物的复电阻率在频率域有最大达160 mrad相位移动，时间域与频率域的测量结果表明，极化率参数可以很好地区分硫化矿物与围岩。利用Cole-Cole模型对实测复电阻率进行解释，得到复电阻率的特征参数，分析各参数与块状硫化物组分和结构的关系，并根据极化率参数对典型硫化物进行了分类。将典型硫化物的激电参数用于计算层状介质的瞬变电磁响应，计算结果表明，在海底多金属硫化物矿床瞬变电磁法响应的最佳观测时窗内可同时观测到激电效应的影响。虽然在采集时窗晚期瞬变响应发生畸变，但在信号接收早期，激电效应能有效增强瞬变电磁法对深海多金属硫化物的探测能力，为瞬变电磁实测数据提供解释依据。     

Properties of sediments deposited in a fluid with different pH

Abstract

The effect of pH on the physical and mechanical properties of a sediment was investigated through a set of experimental tests. The sediment was formed from deposition of suspended particles in a fluid. Two different types of clay soil were suspended in fluids with different pH (2, 4, 7, 9 and 11) in cylindrical tubes with volume of 1?liter and also in special cylindrical reservoirs. The height of the sediment was measured in the cylindrical tube until equilibrium was achieved. The sediment deposited in the reservoirs was dried in air and then Atterberg limit, compaction and unconfined compressive strength (UCS) tests were conducted on samples prepared from each sediment. The results showed that the final height of the settled sediment is a function of pH; the height of sediment is increased with increasing the pH. Also, the Atterberg limits increased with increasing the pH. The maximum dry unit weight and optimum water content decreased and increased with increasing the pH. The final strength of the sediment decreased with increasing pH. Based on the SEM analysis, it was found that the values of pH influence the properties of the formed sediments.     

西南印度洋中脊表层沉积物中存在热液组分的地球化学证据

Hydrothermal materials in deep-sea sediments provide a robust tracer to the localized hydrothermal activity at mid-ocean ridges. Major, trace and rare earth element(REE) data for surface sediments collected from the ultraslow spreading Southwest Indian Ridge are presented to examine the existence of hydrothermal component.Biogenic carbonate oozes dominate all the sediment samples, with CaO content varying from 85.5% to 89.9% on a volatile-free basis. The leaching residue of bulk sediments by ~5% HCl is compositionally comparable to the Upper Continental Crust(UCC) in SiO_2, Al_2O_3, CaO, MgO, alkali elements(Rb, Cs) and high field strength elements(Nb, Ta, Zr, Hf, Ti). These detritus-hosted elements are inferred to be prominently derived from the Australian continent by means of eolian dust, while the contribution of local volcaniclastics is insignificant. In addition, the residual fraction shows a clear enrichment in Fe, Mn, and Ba compared with the UCC. Combining the positive Eu anomaly of residual fraction which is opposed to the UCC but the characteristic of hydrothermal fluids and associated precipitates occurred at mid-ocean ridges, the incorporation of localized hydrothermal component can be constrained. REE mixing calculations indicate that more than half REE within the residual fraction(~55%–60%) are derived from a hydrothermal component, which is inferred to be resulted from a diffuse fluid mineralization. The low-temperature diffuse flow may be widely distributed along the slow-ultraslow spreading ridges where crustal faults and fissures abound, and probably have a great mineralization potential.     

Ferromanganese Nodules and their Associated Sediments from the Central Indian Ocean Basin: Rare Earth Element Geochemistry

Abstract

The rare earth element (REE) distribution in nine deep-sea ferromanganese nodules and their associated siliceous sediments from the Central Indian Ocean Basin (CIOB) have been studied to elucidate the REE relationship among them. Total REE concentration varies from 398–928 ppm in the nodules and 137–235 ppm in the associated sediments, suggesting two- to four-fold enrichment in the nodules compared to associated sediments. REE of nodules and their associated sediments show a positive correlation, suggesting REE are supplied from a common source such as seawater. The positive correlation between REE of nodules and sediments from the CIOB is contrary to the competitive scavenging of REE between nodules and sediment in the equatorial Pacific Ocean. REEs in the nodules are carried by Fe, P, and Ti, whereas in the sediment they are carried by P and Mn phases. A similar REE fractionation pattern with middle REE enrichment over heavy and light REE in both the nodules and their associated sediment suggest fractionation is independent of REE abundance and their carrier phases.     

Restoration of Deep-Sea Macrofauna after Simulated Benthic Disturbance in the Central Indian Basin

Macrofaunal communities of the Central Indian Basin (CIB) were sampled with a spade before (June 1997), and immediately after (August 1997), and 44 months (April 2001) after a simulated benthic disturbance for polymetallic nodule mining. The average density recorded down to a sediment depth of 40 cm ranged from 89 to 799 ind·m^-2 (mean: 373 ± 221 SD; n = 12) and 178-1066 ind·m^-2 (mean: 507 ± 489 SD; n = 3) in the test and reference area, respectively. Most of the macrobenthic animals (64%) were concentrated in the upper 0 to 2 cm sediment layers, whereas, sizeable fauna (6%) inhabited the 20-40 cm sediment section and the deepest 5 cm section from 35-40 cm contributed only about 2% to the total population density. The fauna, comprised of 12 groups, were dominated by the nematodes, which constituted 54% of the total population. The macrofaunal density in the test site showed a significant increase (x:400 ind·m^-2) in the 44 months postdisturbance sampling (x:320 ind·m^-2). The population of nematodes and oligochaetes was nearly restored after 44 months, but the polychaetes and crustaceans did not reach the baseline populations measured in June 1997. The top 0-2 cm sediment layer was severely affected by the disturber, and the study suggests that physically disturbed deep-sea macrofauna may require a longer period for restoration and resettlement than normally believed.