We address the computational challenges of large-scale geospatial mapping with Gaussian process (GP) regression by performing localized computations rather than processing the entire map simultaneously. Traditional approaches to GP regression often involve computational and storage costs that either scale with the number of measurements, or with the spatial extent of the mapped area, limiting their scalability for real-time applications. Our method places a global grid of finite-support basis functions and restricts computations to a local subset of the grid 1) surrounding the measurement when the map is updated, and 2) surrounding the query point when the map is queried. This localized approach ensures that only the relevant area is updated or queried at each timestep, significantly reducing computational complexity while maintaining accuracy. Unlike many existing methods, which suffer from boundary effects or increased computational costs with mapped area, our localized approach avoids discontinuities and ensures that computational costs remain manageable regardless of map size. This approximation to GP mapping provides high accuracy with limited computational budget for the specialized task of performing fast online map updates and fast online queries of large-scale geospatial maps. It is therefore a suitable approximation for use in real-time applications where such properties are desirable, such as real-time simultaneous localization and mapping (SLAM) in large, nonlinear geospatial fields. We show on experimental data with magnetic field measurements that our algorithm is faster and equally accurate compared to existing methods, both for recursive magnetic field mapping and for magnetic field SLAM.

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Deep sea mining refers to the mining of valuable mineral resources from the deep ocean floor. Given the complex and fragile nature of deep-sea ecosystems, adopting an interdisciplinary and holistic approach is crucial to ensure the sustainable and responsible development of deep-sea mining (DSM) operations. This includes work related to the assessment of potential environmental impacts where physical, chemical, and biological characteristics of the target area are studied along with potential short-term and long-term effects on the surrounding ecosystems. These effects will be mining system dependent. Stakeholder engagement is essential. There are however knowledge gaps related to the deep-sea ecosystems and their interconnectedness, biodiversity, ecosystem dynamics and both the potential impacts from a single operation and cumulative impacts of the mining activities, as well as the mining systems themselves and the characteristics of the deposits. Collaboration between marine biologists, oceanographers, geologists, engineers and other relevant disciplines is essential to gain comprehensive insights. Closing these gaps would enable the development and implementation of a robust regulatory framework at both national and international levels to govern potential deep-sea mining operations. Monitoring and enforcement mechanisms must also be put in place to ensure compliance with the not-yet-developed set of standards. Multiscale adaptive management approaches where different temporal- and spatial scales are taken into consideration and where scientific knowledge, stakeholder engagement, robust regulations, and responsible practices are integrated, are the prerequisite for future responsible extraction of mineral resources from the ocean floor. This chapter gives an overview of topics relevant and needed for a proper multiscale marine mineral management. Its focus on the water column is restricted to vertical transportation and the impact of plume resettlement on biogeochemical processes.@en

The chapter gives an overview of the sediment dispersion generated by the mining process. Within the field of dredging engineering, ample experience is available regarding equipment, turbidity generated by equipment, and sediment transport processes. High up the environmental impact mitigation hierarchy are avoidance and minimization. That is where engineering can provide (part of) the solution. It is our aim to predict and consider how we can improve the mining process and equipment. Within this context, our focus is on those processes that are likely to take place close to the seabed. On the one hand, our work focuses on the prediction and reduction of the amount of sediment that might get suspended. On the other hand, considering the conditions under which the suspended sediment might be released in the most optimal way to reduce dispersion, we have performed and analysed small-scale and full-scale laboratory experiments of a hydraulic collector design and various dynamic sedimentation experiments.@en

A convex pattern surface is proposed and optimized to mitigate the sliding wear of bulk handling equipment caused by interaction with bulk solids. This work investigates the effectiveness of the convex pattern surface on wear reduction during interactions with non-spherical particles. Multiple representative particles, obtained through a sampling method, are reconstructed using a photogrammetry technique. Two contact parameters between particles are calibrated through shear box and drawdown tests to ensure flow behavior similar to the real material. The numerical results indicate that the convex pattern surface can effectively reduce wear compared to a plain sample when involving both spherical and non-spherical particles. For a plain sample, the wear volume remains independent of particle shapes and increases linearly with numerical revolutions. For the convex pattern surface, the wear volume demonstrates a quadratic relationship with the test revolutions as the deformation of convex elements weakens the effectiveness of the sample on wear reduction. The particle flow behavior analysis reveals that the convex pattern surface experiences the lowest wear volume when in contact with non-spherical particles. This can be attributed to the non-spherical particles sliding shorter distances and rotating with higher angular velocities on the convex pattern surface.

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In this chapter, the work that is being done in relation to machine-cargo interactions relevant to deep-sea mining is elaborated. To ensure safe and efficient operations across the entire mining value chain, it is important to be aware of the implications of certain design and process decisions. An overview of mechanisms influencing the mechanical response of the bulk materials and the main effects leading to (mechanical) degradation of the ore, e.g., fragmentation, abrasion, is presented. Although the concepts are applicable to each of the deep-sea deposits, our focus is on polymetallic nodules in a riser-based concept. Results are discussed of experiments in which nodules are fragmented due to particle-particle collisions and collisions with different handling equipment, such as the seabed harvester, riser pipe, pump impeller, pipe bends, etc. Next to fragmentation, degradation due to abrasion occurs due to particles rolling, sliding, and colliding with each other, resulting in the generation of nodule fines. Based on the same set of nodules, mechanical bulk properties of dry and wet nodules are studied. The obtained results provide relevant insights for the design of the nodules handling equipment. Furthermore, modelling approaches applied to other fragile bulk materials where the breakage and generation of fines play an important role are outlined. It is described how these modelling approaches can assist in the design of handling equipment, and recommendations are given for next steps to further optimize their design.@en

The insights gained from deep-sea mining (DSM) research regarding sediment dynamics can be utilized to better predict turbidity plumes in shallow marine environments. Small-scale lab experiments can replicate deep-sea conditions effectively, offering an ideal model system to study turbidity currents, given the reduced hydrodynamics and low biota present in the deep sea. DSM operations involve the deployment of a Polymetallic Nodule Mining Tool (PNMT) that collects ore and discharges excess water and sediments. Organic matter, bound to mineral clay as floes, is a key driver of sediment transport in the deep sea. Understanding the dispersal and settling patterns of sediments, and the likelihood of flocculation occurring in DSM activities, can be generalized and applied to turbid flows in shallow water areas. Laboratory experiments demonstrate that the interaction between organic matter, mineral clay, and floes within turbidity currents, results in the reduction of their dispersion. Alongside this, factors like shear rate and sediment concentration significantly influence both floe growth, size and settling velocities. Combining these results with real-time data on sediment concentration, particle size distribution, turbidity, and flow dynamics can be helpful to make dredging decisions, reduce the environmental disruption, and guide dredging equipment selection. By understanding the factors that influence sediment flocculation, deposition, and resuspension, we can design engineered solutions to mitigate the impact of turbidity current. @en

Clay is a notoriously challenging material to dredge. Due to its adhesion and plastic behaviour, it may clog the suction head and clay balls could form down the pipe line. This will raise difficulties in estimating the production or the required power and increase the risk of downtime. As this is an expensive risk for the dredging industry, there is a lot of literature on the cutting of clay in dredging. However it is focused on the forces and stress distribution near the blade tip. Unfortunately, there is little information on the influence of adhesion and plasticity of clay on the deformation and the sliding of the chip over the tool and their contribution to the total cutting forces. Current models are likely to lack some key details of clay behaviour.
In this review, published results from experiments of cutting in clay have been aggregated. An attempt has been made to evaluate the results uniformly with dimensionless parameters derived by the Buckingham-pi method. The state of the art of models for cutting highly plastic materials is presented, providing a more detailed description of the excavation processes in submerged clay. The test results have been compared with the those existing models. This provides insights regarding chip formation and the deformation of the chip as it moves along the tool. This knowledge provides a basis for solutions needed to avoid clogging of equipment and the occurrence of clay balls.
This review is part of the CHiPS project, which investigates rapid large plastic deformations in submerged clay for Cutting Highly Plastic Soils.
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Turbidity flows are known to be affected by the density difference between sediment plumes and the surrounding water. However, besides density, other factors could lead to changes in flow propagation. Such a factor is the presence of suspended organic matter. Recently, it was found that flocculation does occur within plumes upon release of a sediment/organic matter mixture in a lock exchange flume. In the present study, mineral sediment (illite clay) was released into the outflow compartment containing water and synthetic organic matter (polyacrylamide flocculant). Even though the density of water was barely affected by the presence of flocculant, flow head velocity was observed to be larger in the presence of flocculant than without. Samples taken at different positions in the flume indicated that flocs were created during the small current propagation time (about 30–60 s) and that their sizes were larger with higher flocculant dosage. The size of flocs depended on their positions in the flow: flocs sampled in the body part of the flow were larger than the ones sampled at the bottom. All these properties are discussed as a function of sediment–flocculant interactions.@en

Self-amplifying density waves in hydraulic transport pipelines is a scarcely researched topic. Density waves are in essence the result of a spatial redistributing effect and clustering of solids in hydraulic transport pipelines. Self-amplifying density waves are very undesirable for practical applications, as these waves increasing the risk of pipeline blockages. The two available experimental studies (Talmon et al., 2007; Matoušek and Krupička, 2013) report conflicting properties of the density waves, such as wave length and wave celerity. This new experimental research aims to shed light on the reported differences, by broadly varying particle size and concentration in a new dedicated experiment. The main highlight of this research is that two separate mechanisms were identified that can cause density waves, and Talmon et al. (2007) and Matoušek and Krupička (2013) in hindsight were studying the two different mechanism respectively. Both wave type mechanisms come into effect at mixture velocities close to the deposit limit velocity, and require a stationary bed layer to initiate. The first mechanism is caused by an imbalance of erosion and sedimentation of the bed layer, which is predominant for fine sand particles (∼242μm and ∼308μm in this research). The second mechanism occurs when the bed layer starts sliding, instead of being eroded, and is specific for larger sand sizes (∼617μm and ∼1.08mm in this research). These two mechanisms are clearly distinguishable, having different wave lengths, celerity, amplitudes and amplification rates. The results also show a clear relationship between the mean concentration of a density wave, the wave amplitude and wave celerity specific for each of the two mechanisms.

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To date, hydraulic collection is the most widely considered technology in polymetallic-nodule mining, since there is no direct contact between hydraulic collectors and ocean floor. To construct a hydraulic collector that results in the least sediment disturbance, it is critical to develop an insightful understanding of the interaction between the collector and sediment bed. To this end, we conducted a set of small-scale experiments in which several operational conditions were tested, delivering the first quantitative data for sediment erosion resulting from a hydraulic collector driving over a sand bed. This paper presents and discusses the experimental results and observations. It is found that the collector’s forward velocity is inversely proportional to the bed-sediment erosion depth, since the bed is exposed to the flow for a longer time when the collector drives slower and vice versa. In contrast, an increased jet velocity leads to a larger erosion depth. Furthermore, when the collector underside is nearer to the sediment bed, a larger sediment layer is exposed to the water flow, resulting in a larger erosion depth. Finally, the experimental results show that collector water jets strike the sediment bed under an inclined angle, destabilizing the upper sediment layer and consequently dragging sediment particles along toward the collection duct and behind the collector head. This study improves the predictability of sediment erosion created by Coandă-effect-based collectors, which is a crucial asset to optimize the collector design and decrease the extent of the associated sediment plumes.@en

We have developed and investigated a hydrodynamic model of Deep-Sea Mining (DSM) collector turbidity flows that captures sediment particle aggregation and breakup. Flocculation is expected to have a significant impact on determining the spread patterns of the turbidity flows and the resulting turbidity currents. The recently validated drift-flux model by Elerian et al. (2022) has been coupled to the Population Balance Equation (PBE) for modelling real-life discharge scenarios. This advanced approach accounts for the dynamics of flocculation and offers a comprehensive simulation of discharge systems. We hypothesize that this will produce a more accurate representation of DSM turbidity flows in the near-field region, where the turbulence mixing is expected to be the highest. Particular emphasis is placed on the settling velocity closure, as the flocs that form are porous and have a complex geometry. The flocculation parameters are calibrated using the experiments of Gillard et al. (2019). Finally, we investigate the effect of flocculation in the near-field region by numerically solving the new model in a computational domain of the near-field region. The results indicate that aggregation is the primary mechanism, however, it does not have a visible impact on the turbidity flow in the immediate vicinity, but it is likely to have a substantial effect on the far-field region.

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A convex pattern surface has been proposed and optimized to reduce sliding wear of bulk handling equipment by adjusting the flow behaviour of bulk material. This study aims at modelling the surface deformation of the convex pattern sample to investigate how effectively the sample reduces sliding wear. Archard wear model and a deformable geometry technique are combined to capture the sample deformation. A short-time laboratory wear experiment is performed as a benchmark to validate the numerical model. The simulation resutls indicate that there is a linear relation between the wear volume of a plain sample and the simulated revolutions, while the convex pattern sample has a quadratic trend. The wear distribution displays that the convex pattern accounts for the majority of wear of the sample. The contact behaviour demonstrates that the convex pattern facilitates the rolling of particles, resulting in the reduction of sliding distance. The numerical results indicate that the deformed convex pattern sample leads to lower overall sliding wear than a plain sample, although its effectiveness weakens as wear evolves.

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Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated position estimate to drift without bound. Previous research has proposed using magnetic field simultaneous localization and mapping (SLAM) to compensate for position drift in a single agent. Here, we propose two novel algorithms that allow multiple agents to apply magnetic field SLAM using their own and other agents' measurements.Our first algorithm is a centralized approach that uses all measurements collected by all agents in a single extended Kalman filter. This algorithm simultaneously estimates the agents' position and orientation and the magnetic field norm in a central unit that can communicate with all agents at all times. In cases where a central unit is not available, and there are communication drop-outs between agents, our second algorithm is a distributed approach that can be employed.We tested both algorithms by estimating the position of magnetometers carried by three people in an optical motion capture lab with simulated odometry and simulated communication dropouts between agents. We show that both algorithms are able to compensate for drift in a case where single-agent SLAM is not. We also discuss the conditions for the estimate from our distributed algorithm to converge to the estimate from the centralized algorithm, both theoretically and experimentally. Our experiments show that, for a communication drop-out rate of 80%, our proposed distributed algorithm, on average, provides a more accurate position estimate than single-agent SLAM. Finally, we demonstrate the drift-compensating abilities of our centralized algorithm on a real-life pedestrian localization problem with multiple agents moving inside a building.

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In this paper, model-based systems engineering (MBSE) and discrete event simulation (DES) are combined to assess the performance of an offshore production system at an early stage. Various systems engineering tools are applied to an industrial case concerning the retrieval of deep-sea minerals, and a simulation engine is developed to calculate the annual production output. A mean production of 1 Million tonnes of ore per year is estimated for an operation in the Norwegian Sea using Monte Carlo simulation. Depending on the limiting design wave height of the marine operations, the estimated production output ranges from 280,000 tonnes to 1.8 Million tonnes per year. The constrained parameter of the production system is particularly the wave height operational limit of the ship-to-ship transfer operation. We present the learning outcome from applying MBSE and DES to this case and discuss important aspects for improved performance.

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We present an effective design of a hydraulic, polymetallic nodule collector, which fundamentally depends on the Coandă effect in harvesting nodules. The design was first developed based on 2D numerical simulations conducted using a computational fluid dynamics tool, ANSYS FLUENT. Following that, the design was tested in full-scale experiments, which provided insights into the collection efficiency of the collector and confirmed its functionality and effectiveness. The latter means, in the context of deep sea mining, high effective pick-up of nodules, with minimum sediment disturbance. Our observations indicate that our design hardly disturbs the tested sediment bed. The experimental results show that a higher jet velocity leads to a higher pick-up efficiency. Two forward velocities were tested and the higher forward velocity led to a lower pick-up efficiency. It is revealed that the available time for the nodules to respond to the pressure gradient under the collector is of great importance; if the available time is not sufficient, the nodules will not be picked-up even if the pressure gradient is adequate. The clearance under the rear cowl of the collection duct is found to play a major influential role in the collection process; a smaller bottom clearance results in a higher pick-up efficiency.@en

We present a computationally efficient algorithm for using variations in the ambient magnetic field to compensate for position drift in integrated odometry measurements (dead-reckoning estimates) through simultaneous localization and mapping (SLAM). When the magnetic field map is represented with a reduced-rank Gaussian process (GP) using Laplace basis functions defined in a cubical domain, analytic expressions of the gradient of the learned magnetic field become available. An existing approach for magnetic field SLAM with reduced-rank GP regression uses a Rao-Blackwellized particle filter (RBPF). For each incoming measurement, training of the magnetic field map using an RBPF has a computational complexity per time step of O(NpN2m), where Np is the number of particles, and Nm is the number of basis functions used to approximate the Gaussian process. Contrary to the existing particle filter-based approach, we propose applying an extended Kalman filter based on the gradients of our learned magnetic field map for simultaneous localization and mapping. Our proposed algorithm only requires training a single map. It, therefore, has a computational complexity at each time step of O(N2m). We demonstrate the workings of the extended Kalman filter for magnetic field SLAM on an open-source data set from a foot-mounted sensor and magnetic field measurements collected onboard a model ship in an indoor pool. We observe that the drift compensating abilities of our algorithm are comparable to what has previously been demonstrated for magnetic field SLAM with an RBPF. @en

Flocculation between inorganic sediment, salt ions and microscopic organic
matter present in the marine environment might play an important role in the
dynamics of turbidity currents. The ability to predict, understand, and potentially
leverage the effect of flocculation on turbidity currents will help to minimize the
impact of human interventions such as dredging, trenching, and deep-sea
mining. To better characterize the effect of flocculation on the benthic turbidity
currents generated by these activities, a series of laboratory experiments were
performed. Turbidity currents were created by means of lock exchange
experiments. The present work focuses on the flocculation of clays that are
representative for abyssal regions where deep-sea mining is performed, but
most of the conclusions of this work are generic and can be applied to other
types of benthic flows, occuring in harbours and channels. The effect of salt and
organic material as flocculant agent was investigated. Various concentrations of
clay and organic flocculant were tested. Video analysis was used to determine
the head velocity of the plume. Samples at different run-out lengths were
collected at the end of the lock exchange experiments for particle size and
settling velocity measurements. The velocities of the turbidity currents in fresh
and saline water (when no organic matter was present) were found to be similar,
which was expected considering the timescales of salt-induced flocculation
(about 30 min or more compared to the duration of lock exchange
experiment <60 s). It was however demonstrated that, in presence of
organic matter, flocculation occurred during the short time (30–60 s) of the
experiment, leading to a reduced current propagation and a significant change
in floc sizes (from 20 to 1,000 μm) and settling velocities (from 1 to 60mms−1).
Salt ions contributed to flocculation in the sense that flocculation with organic
matter was improved in the presence of salt.@en

Deep-sea mining may be just a few years away and yet society is struggling to assess the positive aspects, such as increasing the supply of metals for battery production to fuel the green revolution, versus the potentially large environmental impacts. Mining of polymetallic (manganese) nodules from the deep ocean is likely to be the first mineral resource targeted and will involve direct impacts to hundreds of km² of seabed per mine per year. However, the mining activity will also cause the generation of large sediment plumes that will spread away from the mine site and have both immediate and long-term effects over much wider areas. We discuss what the impacts of plumes generated near the seabed by mining vehicles may be and how they might be measured in such challenging environments. Several different mining vehicles are under development around the world and depending on their design some may create larger plumes than others. We discuss how these vehicles could be compared so that better engineering designs could be selected and to encourage innovation in dealing with plume generation and spread. These considerations will aid the International Seabed Authority (ISA) that has the task of regulating mining activities in much of the deep sea in its commitment to promote the Best Available Technology (BAT) and Best Environmental Practice (BEP).

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Sliding wear of bulk handling equipment (e.g., shovel bucket, mill and transfer chute) can be dramatically reduced by using a convex pattern surface compared to a flat surface, by adjusting the flow behavior of particles moving along the convex pattern surface. To study the effect of particle size relative to the dimensions of the convex pattern surface, a coarse graining technique is applied. Comparisons of bulk flow and wear behavior between the convex pattern and flat surfaces illustrate the two-sided effect of the convex pattern surface on sliding wear. The bulk flow behavior indicates that the particle size has a minor effect on the velocity and angular velocity of particles for the flat surface, while it has a significant effect on those of the convex pattern surface. The wear results show that the particle size has negligible influence on the sliding wear of a flat surface and a linear relationship with the sliding wear of the convex pattern surface. The convex pattern surface can reduce the sliding wear through influencing the flow behavior of the bulk material when the equivalent radius of the convex is larger than r50 of particles. This research reveals the relationship between the dimensions of the convex pattern and the particle size on the sliding wear caused by the interaction between bulk material and bulk handling equipment. The relationship should be carefully considered for the applications of the convex pattern surface to bulk handling equipment.@en

Owing to the absence of direct contact between hydraulic polymetallic-nodule collectors and seabed, hydraulic collection is deemed, from an environmental point of view, the most preferred technique in nodule mining. To design a hydraulic collector that results in minimum sediment disturbance, it is crucial to develop a solid understanding of the interaction between the collector and the sea bed. To this end, we performed a series of small-scale experiments where several operational conditions were tested, yielding the first quantitative data for sediment erosion resulting from the movement of a hydraulic collector over a sand bed. This paper presents and discusses the experimental results and observations. It is found that the collector’s forward velocity is inversely proportional to the bed-sediment erosion depth, since the bed is exposed to the flow for a longer time when the collector drives slower and vice versa. Contrarily, an increased jet velocity leads to a larger erosion depth. Furthermore, when the collector underside is nearer to the bed, a larger sediment layer is exposed to the water flow, resulting in a larger erosion depth. Finally, the experimental results show that a larger amount of water entrained into the collection duct results in a smaller erosion depth, implying that the flow velocities under the collector are lower in this case.@en