An Image Analysis Technique for Exploration of Manganese Nodules

In order to develop the mineral resources contained in manganese nodules of the deep sea, the Korea Ocean Research & Development Institute (KORDI) has explored the area allocated by the United Nations in the Clarion-Clipperton Fracture Zone in the northeastern Pacific. During research cruises, the seabed surface was photographed every 30 s by the KORDI Deep Tow Imaging System (DTIS). Features such as the coverage and size distribution of manganese nodules on the photographs serve as the essential information to determine the potential mining areas. This article presents (semi)automatic procedures to extract the useful features from the photographs of the seabed surface using digital image processing techniques. The 35-mm films are first digitized by the film scanner. The depth information written on the film is then recognized to compensate for distortions due to nonuniform illumination. The nodule areas on the digitized image are recognized and separated from the background based on the characteristics of the nodules. The nodule coverage and distribution of nodule diameters are then calculated from the processed image. The proposed technique has been applied to sample photographs of the seabed surface. Experimental results indicate that the technique could be utilized as an efficient tool to process the massive collection of photographs of the seabed surface.     

Temporal variability in phytodetritus and megabenthic activity at the seabed in the deep Northeast Atlantic

We report a ten-year study of the abundance and activity of megabenthos on the Porcupine Abyssal Plain, northeast Atlantic, together with observations on the occurrence of phytodetritus at the deep-sea floor (4850 m). Using the Southampton Oceanography Centre time-lapse camera system, ‘Bathysnap’, we have recorded a radical change in the abundance and activity of megabenthos between the two periods of study (1991–1994 and 1997–2000). In 1991–1994, the larger megabenthos occurred at an abundance of c. 71.6/ha and were dominated by large holothurians. In addition, there were very substantial populations of smaller megabenthic ophiuroids (c. 4979/ha). Together, the total megabenthos are estimated to track over some 17 cm²/m²/d (exploiting 100% of the surface of the seabed in c. 2.5 years). In 1997–2000, the larger megabenthos increased to an abundance of c. 204/ha and were joined by exceptional numbers of a small holothurian species (Amperima rosea, 6457/ha) and ophiuroids (principally Ophiocten hastatum, 53,539/ha). The total megabenthos population was tracking at an estimnated rate of c. 247 cm²/m²/d (exploiting 100% of seabed in just 6 weeks). Coincident with these increases in the abundance and activity of the megabenthos, there were apparently no mass depositions of aggregated phytodetritus to the seabed in the summers of 1997–1999. Mass occurrences of phytodetritus had been noted during the summer months of the three years previously studied (1991, 1993 and 1994), with covering between 50 and 96% of the sediment surface. There is a statistically significant (p<0.02) negative correlation between maximum extent of this seabed cover of phytodetritus and seabed tracking by megabenthos. Additional studies [Lampitt et al., Progr. Ocean. 50 (2001)], indicate that there were no substantial changes in surface ocean primary productivity, in export flux, or in the composition of the flux that might otherwise account for the apparent absence of observable concentrations of phytodetritus during the summers of 1997–1999. We postulate that the marked increase in megabenthic tracking activity resulted in the removal (via consumption, disaggregation, burial etc.) of the bulk of the incoming phytodetrital flux during these years. A simple conceptual model, based on the apparent phytodetrital fluxes observed in 1991 and 1993, suggests that the megabenthos tracking rates estimated for 1997–1999 are sufficient to account for near-total removal of this flux. However, we are not able to estimate other processes removing phytodetritus (i.e. other elements of the benthos) that may also have increased between 1991–1994 and 1997–1999. Other independent studies [e.g. Ginger et al., Progr. Ocean. 50 (2001)] of flux constituents support the possibility that just a few species of megabenthos (e.g. A. rosea, and O. hastatum) could well have consumed a major proportion of the incoming flux and so substantially modified the composition of the organic matter available to other components of the benthos.     

Polymetallic Nodule Mining, Waste Disposal, and Species Extinction at the Abyssal Seafloor

The size of individual mining blocks for polymetallic nodule extraction seems to be rather small, not more than 100 km² in the French mining claim. Even when adding an additional resedimentation zone to the directly impacted area, the size of the affected seabed would remain below 200 km². We assume that even rare species in the abyss inhabit larger areas and propose discussions of the International Seabed Authority and other stakeholders for the different subregions on mining strategies from the perspective of exploitation versus species extinction and conservation. Although impacts of waste disposal at the abyssal seafloor are different from those of nodule mining, the 200 km² concept may also be applied.     

Deep Seabed Mining: Past Failures and Future Prospects

The first attempt to exploit deep-sea manganese nodules ended in failure as a result of the collapse of world metal prices, the onerous provisions imposed by the U.N. Convention on the Law of the Sea (UNCLOS), and the overoptimistic assumptions about the viability of nodule mining. Attention then focused on Co-rich manganese crusts from seamounts. Since the mid-1980s, a number of new players have committed themselves to long-term programs to establish the viability of mining deep-sea manganese nodules. These programs require heavy subsidy by the host governments. Au-rich submarine hydrothermal deposits located at convergent plate margins are now emerging as a more promising prospect for mining than deep-sea manganese deposits.     

Deep Seabed Mining: Past Failures and Future Prospects

The first attempt to exploit deep-sea manganese nodules ended in failure as a result of the collapse of world metal prices, the onerous provisions imposed by the U.N. Convention on the Law of the Sea (UNCLOS), and the overoptimistic assumptions about the viability of nodule mining. Attention then focused on Co-rich manganese crusts from seamounts. Since the mid-1980s, a number of new players have committed themselves to long-term programs to establish the viability of mining deep-sea manganese nodules. These programs require heavy subsidy by the host governments. Au-rich submarine hydrothermal deposits located at convergent plate margins are now emerging as a more promising prospect for mining than deep-sea manganese deposits.     

Morphological Features of Co-Rich Manganese Deposits and Their Relation to Seabed Slopes

The morphological features associated with Co-rich manganese deposits, the size variations of nodules, and the occurrence of different substrates have been analyzed, to evaluate the influence of various seabed slope angles on the distribution of these features. The coverage and size of the crusts depend on their surface morphology and seabed topography, resulting in cobble-type, lineated, or step-like outcrops. Small nodules (1 - 4 cm in diameter) dominate all seabed slopes, with a few locations having nodules ranging from 1 to 8 or 1 to 10 cm. Sediments invariably occur as substrates for nodules and as cover for crusts, their coverage being inversely proportional to that of the nodules and crust outcrops. Steeper seafloor areas have large crust outcrops exposed with no or few nodules and sediments associated with them. The intermediate slopes have a combination of nodules, sediments, and crusts in various proportions, depending on topography and gradient. Large-scale nodule occurrences, followed by sediment fields and crust outcrops on seabed slopes of greater than 3 degrees, 3 - 7 degreees, and less than 15 degrees, respectively, represent typical morphological distribution zones of the Co-rich manganese deposits on a seamount in the central Pacific Ocean. A transition zone between nodule-dominated fields and large crust outcrops occurs for slopes from 7 degrees to 15 degrees. This detailed study on distribution of Co-rich deposits gives a better understanding for purposes of their exploitation.     

Morphological Features of Co-Rich Manganese Deposits and Their Relation to Seabed Slopes

Abstract

The morphological features associated with Co-rich manganese deposits, the size variations of nodules, and the occurrence of different substrates have been analyzed, to evaluate the influence of various seabed slope angles on the distribution of these features. The coverage and size of the crusts depend on their surface morphology and seabed topography, resulting in cobble-type, lineated, or step-like outcrops. Small nodules (1–4 cm in diameter) dominate all seabed slopes, with a few locations having nodules ranging from 1 to 8 or 1 to 10 cm. Sediments invariably occur as substrates for nodules and as cover for crusts, their coverage being inversely proportional to that of the nodules and crust outcrops.

Steeper seafloor areas have large crust outcrops exposed with no or few nodules and sediments associated with them. The intermediate slopes have a combination of nodules, sediments, and crusts in various proportions, depending on topography and gradient. Large-scale nodule occurrences, followed by sediment fields and crust outcrops on seabed slopes of < 3°, 3–7°, and > 15°, respectively, represent typical morphological distribution zones of the Co-rich manganese deposits on a seamount in the central Pacific Ocean. A transition zone between nodule-dominated fields and large crust outcrops occurs for slopes from 7° to 15°. This detailed study on distribution of Co-rich deposits gives a better understanding for purposes of their exploitation.     

Quantitative estimation of seafloor features from photographs and their application to nodule mining

Methods developed for quantitative estimation of seafloor features from seabed photographs and their application for estimation of nodule sizes, coverage, abundance, burial, sediment thickness, extent of rock exposure, density of benthic organisms, and their lebensspuren have been presented. Digitization of the photographs shows variable nodule size (< 1 to 10 cm), coverage (< 1 to 75%) and abundance (< 1 to 20 kg/m²). Nodule population is inversely proportional to the coverage of the sediment (10–100%) and its thickness (0 to > 10 cm), which causes differential burial (0–100%) of nodules. Correlation between nodule parameters (diameter and coverage) in the photographs and grab recovery is used to evolve empirical relationships for estimating nodule abundance in different seabed settings. The rock outcrops (basalts) with a coverage of 6–100% are the sources of nuclei for the nodules, the distribution of which is controlled by the local topography. Higher concentrations of nodules are observed along the slopes, followed by the crests of seamounts, and are lowest in the valleys and plains. A population density of 6–7 benthic organisms per 100 m² belonging to 7 different phyla is observed, with a high frequency of lebensspuren (4–12 traces/m²) in association with nodules. Estimation of these parameters can be used as important inputs in the design of the nodule collector, as it will have to encounter a variety of seafloor conditions, such as patchy nodule distribution, rock outcrops, steep slopes, and frequent microtopographic changes, as well as benthic life. The distribution and relation of various features with one another can also be used to understand the possible impact of nodule mining on the seabed. Estimates show that for a yield of 3 million tonnes of nodules per year, the volume of sediment disturbed will be between 200 × 10⁷ and 500 × 10⁷ m³over an area of 300–600 km², depending upon the average abundance of nodules. Hence, the nodule collector will have to be a self‐propelled system, with photographic and acoustic sensors, to enable selective mining and avoid unfavorable areas.     

Megabenthic ecology of the deep Faroe–Shetland channel: A photographic study

The megabenthic ecology of the cold water (<0 °C) area of the Faroe–Shetland Channel was investigated using an off-bottom towed camera platform WASP (wide angle seabed photography). A series of 10 photographic transects, approximately evenly spaced along the channel axis, were studied. Photographic transects allowed quantitative benthic diversity data to be obtained from this understudied yet commercially important area for oil and gas exploration. The sedimentary characteristics of the seabed changed dramatically from a region of ice-rafted boulders and gravel in the southwest to fine sediments more typical of the deep sea to the northeast. Despite the relatively low species richness of the megabenthos, variation in faunal composition with depth was apparent. Two distinct “communities” were identified, one in the south of the channel and the other in the north. Epibenthic megafaunal communities in the south were dominated by suspension and filter feeders and in the north by deposit feeders. Diversity and standing stock of megabenthos decreased to the northeast of the channel. Lebensspuren number and areal cover increased northwards in the Channel. The increase in bioturbation and deposit feeder abundance was concurrent with an increase in fine sediment quantity.     

A comparison between manganese nodules and cobalt crust economics in a scenario of mutual exclusivity

The past 20 years have been characterised by limited interest in the economic viability of deep seabed mining with the exception of those mineral ores rich in precious metals such as polymetallic sulphides. This paper goes against the tide. After reviewing the most significant literature, it compares the economic feasibility of mining polymetallic manganese nodules and cobalt-rich ferromanganese crusts in a scenario of mutual exclusivity. It uses a new indicator, the cobalt-nickel price ratio, whose aim is to verify at what metal prices the net present value of the two mining projects equalises. Previous research has shown that the turning margin between manganese nodules and cobalt crusts is a cobalt price of $50/kg. The present paper revises this by showing that the choice between mining crust and nodules depends on fluctuations in the price of nickel. A Monte Carlo simulation proves that cobalt crust mining could be reasonably preferred to manganese nodules at cobalt prices of $40-60/kg if the price of nickel fell below $11/kg. Within this condition, investors would receive the minimum acceptable internal rate of return of 15%, which is at a level of risk closer to the land-based mining. However, when the price of nickel passes the $11/kg threshold, the equilibrium between the two ventures can be reached only at a cobalt price greater than $100/kg, causing cobalt crust to become uncompetitive. Finally, the paper, recognising that prices are not unique drivers, introduces legal, political, technological and environmental concerns to show that the final choice between the two mining ventures cannot be merely driven by economic issues.     

基于康达效应的海底集矿装置流场与集矿特性试验研究

海底集矿作为深海矿产资源开发的核心技术之一,直接影响到矿石采集效率和海底沉积物受扰动程度。基于康达效应的水力集矿装置因具有结构简单、可靠性高及对海床扰动小等优点,受到广泛关注。针对基于康达效应的水力集矿头模型进行3种类型的试验研究：1)利用粒子图像测速(PIV)技术测得集矿流场速度分布,试验发现流体质点在靠近凸曲面壁处流速和沿法线速度梯度较大,而远离凸曲面壁处则相反;2)通过高速摄像和图像处理获得球形矿粒运动轨迹和速度,试验发现了不同射流流速下5种典型矿粒运动形态;3)分析了射流流量对矿粒采集率的影响,试验得到了颗粒采集率关于射流流量的变化曲线,并根据变化特征划分为增长区、缓变区和跃升区。研究可为新式集矿装置的优化设计与性能分析提供参考。     

The economics of mining seabed manganese nodules: A case study of the Indian Ocean nodule field

Abstract

Because of ever-growing demand for strategic metals, the focus of the international community has fallen on deep sea manganese nodules occurring at a water depth of more than 4500?m. We present an economic appraisal and strategy for mining of nodules from the Indian Ocean Nodule Field- one of the four economically potential areas in the world oceans. In contrast to the prevailing perception of non-viability of nodule mining, our analysis indicates a fair degree of economic feasibility and commercial sustainability to mine the deep-sea manganese nodules.     

基于模糊PID的深海采矿机器人路径跟踪控制

深海采矿作业中,由于海底软泥稀软,采矿机器人极易打滑,以及海底地形、海流等干扰,采矿机器人容易偏离预定路径。针对采矿机器人的海底作业过程中路径跟踪问题,设计并分析了深海采矿机器人的路径跟踪控制系统。首先提出了艏向控制实现采矿机器人路径跟踪的控制算法,通过采矿机器人与当前目标点相对位置计算采矿机器人的目标艏向角,后基于运动学模型建立模糊比例积分微分(PID)的控制方法控制采矿机器人两侧转速差值进而控制采矿机器人艏向,从而使机器人按目标路径行走;同时为了防止输入过大引起打滑,基于动力学模型数值分析了采矿机器人主动轮角加速度与打滑率之间的关系,采取限制主动轮角加速度方式防止采矿机器人过度打滑;最后通过Matlab/Simulink建立系统模型对系统进行仿真分析。仿真结果表明,该控制算法能够良好地完成采矿机器人的路径跟踪任务。     

Production key figures for planning the mining of manganese nodules

Under the impression of decreasing ore grades and increasing production costs in conventional mining, seafloor minerals came into focus. Having gained a basic understanding of geological settings, there is still a lack of tools to assess and plan future mining projects in the deep-sea. This paper contributes to a mining concept which is inspired by the high-tech farming industry: strip mining. Potential mining fields are identified using image filters in conjunction with hydroacoustic backscatter data and slope angles and are portioned into long, narrow strips. In the framework of the EU-funded Blue Mining project, these methods were applied to a part of the eastern German exploration area, located in the manganese nodule belt of the Clarion Clipperton Zone, Pacific Ocean. Both, the mapping technique and the mining concept presented in this paper can be used in early-stage feasibility studies to derive estimates on production key figures for seafloor manganese nodule mining.     

Discharge and surface plume measurements during manganese nodule mining tests in the north equatorial pacific

Rates, concentrations, and composition of mining discharge and the size and structure of the ensuing surface plumes were examined during North Pacific tests of scaled manganese nodule mining systems. Discharge was composed principally of bottom water and pelagic silts and clays, although nodule fragments with diameters less than 1 mm were also discharged at widely varying rates. Average flow rates of the discharge varied from 95 to 160 litres/s, with the solid fraction varying from 550 to approximately 2000g/s. The plume, as determined by particulate concentrations in excess of ambient oceanic conditions, extended approximately 5 km from the mining ship and had a width of about 1 km. Fe and Mn signatures allowed detection of the plume nearly 35 km from the source. The plume provided evidence of settling more rapidly than expected of silt and clay-size particles: a mean settling velocity of 6 × 10^?2 cm/s for the particulates in the plume and a mixed layer vertical turbulent eddy diffusivity of 1 × 10^?2m²/s have been inferred from the data. Field and laboratory data together suggest that the rapid settling was due to flocculation of the discharge particulates.     

Possibilities of using the GLORIA system for manganese nodule assessment

The I.O.S. long range side-scan sonar GLORIA has been widely used over a variety of seabed types, but until recently had not been used over an independently authenticated field of manganese nodules. In the Eastern Atlantic Ocean at approximately 31°25 N 25°15 W, a field of nodules approximately 3–6 cm in diameter covering up to 18% of the seafloor was observed using an underwater camera. The nodule field occurred over approximately 2.8 km of the 8.3 km camera run. The corresponding GLORIA image shows an area of medium intensity backscattering, approximately 3.7 km in diameter. Considering the likely contrast in acoustic reflectivity between manganese nodules and deep sea sediments, we propose a correlation between the nodules observed in the photographs and the medium intensity echo target revealed by the GLORIA system.     

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。     

Nuclear measuring techniques in mining and processing of manganese nodules

By utilizing characteristic interaction processes of nuclear radiation with matter and by applying automatic data acquisition and reduction methods, various analytical problems encountered in mining and processing of manganese nodules can be solved. Development work performed at the Geesthacht research center demonstrates thatgamma-ray transmission spectrometry allows a reliable quasi-continuous and nondestructive determination of both the nodule drift velocity and the space concentrations of nodules, sediment, and water in a conveyer flow. Such data are representative of the efficiency of collector or hydraulic lift systems and are of considerable importance in economy deliberations. Measuring devices have been designed which may be attached to a conveyer pipe in the deep sea. For elemental analyses of manganese nodules, a rapid nuclear method based on fast-neutron activation techniques has been developed that allows determinations of the most relevant metals without sample treatment, thus being particularly suited for quasi-continuous applications.     

The influence of the pycnocline on the oceanic settling of manganese nodule mining waste

The likelihood that manganese nodule mining discharge (essentially deep-seabed clays and some nodule fragments) would reside on the pycnocline for a long period of time was investigated by introducing mining waste particles into a two-layer laboratory settling column illuminated by laser. The experiments were repeated with polystyrene particles of uniform shape and size to further study the effect of a density interface on settling. The results indicate that mining particulates do not have sufficiently low density to accumulate on the pycnocline although a density interface can temporarily concentrate settling particles. A review of related studies of accumulation of inorganic particles on density interfaces suggests that the available evidence for pycnocline accumulation of inorganic particles is slight. A measurement of the wet density spectra of any oceanic discharge is necessary to accurately assess the possibility of particles rafting on a density surface.