A hydrothermal investigation system for the Qianlong-Ⅱ autonomous underwater vehicle
|
摘要
Qianlong-Ⅱ is a fully autonomous underwater vehicle designed for the investigation of submarine resources,particularly polymetallic sulfides. It was used to successfully explore hydrothermal fields on the Southwest Indian Ridge. Here, we summarized the exploration of hydrothermal systems using Qianlong-Ⅱ, including detailed descriptions of its implementation along with the systems used for data management and fast mapping. We also introduced a method to remove platform magnetic interference using magnetic data while Qianlong-Ⅱ is spinning. Based on hydrothermal anomalies collected by Qianlong-Ⅱ, we developed a rapid method for locating hydrothermal vents. Taking one dive as an example, we systemically demonstrated the process for analyzing hydrothermal survey data to locate hydrothermal vents.
Qianlong-Ⅱ is a fully autonomous underwater vehicle designed for the investigation of submarine resources,particularly polymetallic sulfides. It was used to successfully explore hydrothermal fields on the Southwest Indian Ridge. Here, we summarized the exploration of hydrothermal systems using Qianlong-Ⅱ, including detailed descriptions of its implementation along with the systems used for data management and fast mapping. We also introduced a method to remove platform magnetic interference using magnetic data while Qianlong-Ⅱ is spinning. Based on hydrothermal anomalies collected by Qianlong-Ⅱ, we developed a rapid method for locating hydrothermal vents. Taking one dive as an example, we systemically demonstrated the process for analyzing hydrothermal survey data to locate hydrothermal vents.
Qianlong-Ⅱ is a fully autonomous underwater vehicle designed for the investigation of submarine resources,particularly polymetallic sulfides. It was used to successfully explore hydrothermal fields on the Southwest Indian Ridge. Here, we summarized the exploration of hydrothermal systems using Qianlong-Ⅱ, including detailed descriptions of its implementation along with the systems used for data management and fast mapping. We also introduced a method to remove platform magnetic interference using magnetic data while Qianlong-Ⅱ is spinning. Based on hydrothermal anomalies collected by Qianlong-Ⅱ, we developed a rapid method for locating hydrothermal vents. Taking one dive as an example, we systemically demonstrated the process for analyzing hydrothermal survey data to locate hydrothermal vents.
引文
Allen B,Stokey R,Austin T,et al.1997.REMUS:a small,low cost AUV;system description,field trials and performance results.In:MTS/IEEE Conference Proceedings Oceans.Halifax,NS,Canada:IEEE,2:994-1000
Baccou P,Jouvencel B.2002.Homing and navigation using one transponder for AUV,postprocessing comparisons results with long base-line navigation.In:Proceedings of 2002 IEEE International Conference on Robotics and Automation.Washington,DC,USA:IEEE,4004-4009
Baross J A,Hoffman S E.1985.Submarine hydrothermal vents and associated gradient environments as sites for the origin and evolution of life.Origins of Life and Evolution of the Biosphere,15(4):327-345,doi:10.1007/BF01808177
Bellingham J G,Goudey C A,Consi T R,et al.1994.A second generation survey AUV.In:Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology.Cambridge,MA,USA:IEEE,148-155
Caratori T F,De Ronde C E J,Yoerger D,et al.2012.3-D focused inversion of near-seafloor magnetic data with application to the Brothers volcano hydrothermal system,Southern Pacific Ocean,New Zealand.Journal of Geophysical Research:Solid Earth,117(B10):B10102
Corliss J B,Dymond J,Gordon L I,et al.1979.Submarine thermal sprirngs on the galápagos rift.Science,203(4385):1073-1083,doi:10.1126/science.203.4385.1073
Edmonds H N,German C R.2004.Particle geochemistry in the Rainbow hydrothermal plume,Mid-Atlantic Ridge.Geochimica et Cosmochimica Acta,68(4):759-772,doi:10.1016/S0016-7037(03)00498-8
Fouquet Y.1997.Where are the large hydrothermal sulphide deposits in the oceans?.Philosophical Transactions of the royal Society A:Mathematical,Physical and Engineering Sciences,355(1723):427-441,doi:10.1098/rsta.1997.0015
Galley A G,Hannington M D,Jonasson I R.2007.Mineral deposits of Canada:A synthesis of major deposit types,district metallogeny,the evolution of geological provinces and exploration methods.Mineral Deposits Division,Special Publication,5:509-531
German C R,Yoerger D R,Jakuba M,et al.2008.Hydrothermal exploration with the Autonomous Benthic Explorer.Deep Sea Research Part I:Oceanographic Research Papers,55(2):203-219,doi:10.1016/j.dsr.2007.11.004
Hagen P E.2001.AUV/UUV mission planning and real time control with the HUGIN operator system.In:Conference Proceedings MTS/IEEE Oceans 2001.Honolulu,HI,USA:IEEE,1:468-473
Herzig P M.1999.Economic potential of sea-floor massive sulphide deposits:ancient and modern.Philosophical Transactions of the Royal Society A:Mathematical,Physical and Engineering Sciences,357(1753):861-875,doi:10.1098/rsta.1999.0355
IXSEA.2004.USBL Posidonia 6000 Positioning System,User’s Manual.Brest,France.
Jakuba M V,Kinsey J C,Yoerger D R,et al.2011.Exploration of the gulf of Mexico oil spill with the sentry autonomous underwater vehicle.In:Proceedings of the International Conference on Intelligent Robots and Systems(IROS)Workshop on Robotics for Environmental Monitoring(WREM)
Johnson H P,Pruis M J.2003.Fluxes of fluid and heat from the oceanic crustal reservoir.Earth and Planetary Science Letters,216(4):565-574,doi:10.1016/S0012-821X(03)00545-4
Liu Tao,Xu Qi’nan,WANG Huizheng,et al.2002.“CR-02”6000m AUV hull structure systems.Journal of Ship Mechanics,6(6):114-119
Martin W,Baross J,Kelley D,et al.2008.Hydrothermal vents and the origin of life.Nature Reviews Microbiology,6(11):805-814,doi:10.1038/nrmicro1991
Millard N W,McPhail S D,Stevenson P,et al.2003.Multidisciplinary ocean science applications of an AUV:the Autosub science missions programme.In:Griffiths G,ed.The Technology and Applications of Autonomous Underwater Vehicles.Abingdon,UK:Taylor&Francis
Mu Lingji,Chen E,Huang Shenwei,et al.2013.Mechatronic system design for science/work class ROV.Applied Mechanics and Materials,284-287:1867-1871
Purcell M,Alt C V,Allen B,et al.2002.New capabilities of the REMUSautonomous underwater vehicle.In:Conference Proceedings OCEANS 2000 MTS/IEEE Conference and Exhibition.Providence,RI,USA:IEEE,1:147-151
Rona P A,Hannington M D,Raman C V,et al.1993.Active and relict sea-floor hydrothermal mineralization at the TAG hydrothermal field,mid-Atlantic ridge.Economic Geology,88(8):1989-1989,doi:10.2113/gsecongeo.88.8.1989
Shcherbina A Y,Gawarkiewicz G G,Linder C A,et al.2008.Mapping bathymetric and hydrographic features of Glover’s Reef,Belize,with a REMUS autonomous underwater vehicle.Limnology&Oceanography,53(5part2):2264-2272
Tao Chunhui,Lin Jian,Guo Shiqin.2007.Discovery of the first active hydrothermal vent field at the ultraslowspreading Southwest Indian Ridge.InterRidge News,16:25-26
Tao Chunhui,Li Huaiming,Jin Xiaobing,et al.2014.Seafloor hydrothermal activity and polymetallic sulfide exploration on the southwest Indian ridge.Chinese Science Bulletin,59(19):2266-2276,doi:10.1007/s11434-014-0182-0
Thomson R E,Davis E E,Burd B J.1995.Hydrothermal venting and geothermal heating in Cascadia Basin.Journal of Geophysical Research:Solid Earth,100(B4):6121-6141,doi:10.1029/95JB00030
Tivey M A,Dyment J.2010.The magnetic signature of hydrothermal systems in slow spreading environments.In:Rona P A,ed.Diversity of Hydrothermal Systems on Slow Spreading Ocean Ridges.Washington,DC:American Geophysical Union,43-66
Ura T,Obara T,Nagahashi K,et al.2004.Introduction to an AUV“r2D4”and its Kuroshima knoll survey mission.In:Oceans’04MTS/IEEE Techno-Ocean’04.Kobe,Japan:IEEE,2:840-845
Ura T,Obara T,Takagawa S,et al.2001.Exploration of Teisi Knoll by autonomous underwater vehicle"R-One robot".In:Conference Proceedings MTS/IEEE Oceans 2001.An Ocean Odyssey.Honolulu,HI,USA:IEEE,1:456-461
Ura T,Tamaki K,Asada A,et al.2007.Dives of AUV“r2D4”to rift valley of central Indian mid-ocean ridge system.In:OCEANS2007-Europe.Aberdeen,UK:IEEE,1-6
Vestgard K,Storkersen N,Sortland J.1999.Seabed surveying with the Hugin AUV.In:Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology.Durham,New-Hampshire,USA:University of New Hampshiremarine Systems,63-74
Wu T,Tao C H,Liu C,et al.2018.Correction of tri-axial magnetometer interference caused by an autonomous underwater vehicle near-bottom platform.Ocean Engineering,160(2018):68-77
Wu Jianguo,Liu Jian,Xu Huixi.2014.A variable buoyancy system and a recovery system developed for a deep-sea AUV Qianlong I.In:OCEANS 2014-TAIPEI.Taipei,Taiwan:IEEE,1-4
Yoerger D R,Bradley A M,Jakuba M,et al.2007.Autonomous and remotely operated vehicle technology for hydrothermal vent discovery,exploration,and sampling.Oceanography,20(1):152-161,doi:10.5670/oceanog
Yoerger D R,Bradley A M,Martin S C,et al.2006.The Sentry Autonomous Underwater Vehicle:Field Trial Results and Future Capabilities.In:AGU Fall Meeting Abstracts
Baccou P,Jouvencel B.2002.Homing and navigation using one transponder for AUV,postprocessing comparisons results with long base-line navigation.In:Proceedings of 2002 IEEE International Conference on Robotics and Automation.Washington,DC,USA:IEEE,4004-4009
Baross J A,Hoffman S E.1985.Submarine hydrothermal vents and associated gradient environments as sites for the origin and evolution of life.Origins of Life and Evolution of the Biosphere,15(4):327-345,doi:10.1007/BF01808177
Bellingham J G,Goudey C A,Consi T R,et al.1994.A second generation survey AUV.In:Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology.Cambridge,MA,USA:IEEE,148-155
Caratori T F,De Ronde C E J,Yoerger D,et al.2012.3-D focused inversion of near-seafloor magnetic data with application to the Brothers volcano hydrothermal system,Southern Pacific Ocean,New Zealand.Journal of Geophysical Research:Solid Earth,117(B10):B10102
Corliss J B,Dymond J,Gordon L I,et al.1979.Submarine thermal sprirngs on the galápagos rift.Science,203(4385):1073-1083,doi:10.1126/science.203.4385.1073
Edmonds H N,German C R.2004.Particle geochemistry in the Rainbow hydrothermal plume,Mid-Atlantic Ridge.Geochimica et Cosmochimica Acta,68(4):759-772,doi:10.1016/S0016-7037(03)00498-8
Fouquet Y.1997.Where are the large hydrothermal sulphide deposits in the oceans?.Philosophical Transactions of the royal Society A:Mathematical,Physical and Engineering Sciences,355(1723):427-441,doi:10.1098/rsta.1997.0015
Galley A G,Hannington M D,Jonasson I R.2007.Mineral deposits of Canada:A synthesis of major deposit types,district metallogeny,the evolution of geological provinces and exploration methods.Mineral Deposits Division,Special Publication,5:509-531
German C R,Yoerger D R,Jakuba M,et al.2008.Hydrothermal exploration with the Autonomous Benthic Explorer.Deep Sea Research Part I:Oceanographic Research Papers,55(2):203-219,doi:10.1016/j.dsr.2007.11.004
Hagen P E.2001.AUV/UUV mission planning and real time control with the HUGIN operator system.In:Conference Proceedings MTS/IEEE Oceans 2001.Honolulu,HI,USA:IEEE,1:468-473
Herzig P M.1999.Economic potential of sea-floor massive sulphide deposits:ancient and modern.Philosophical Transactions of the Royal Society A:Mathematical,Physical and Engineering Sciences,357(1753):861-875,doi:10.1098/rsta.1999.0355
IXSEA.2004.USBL Posidonia 6000 Positioning System,User’s Manual.Brest,France.
Jakuba M V,Kinsey J C,Yoerger D R,et al.2011.Exploration of the gulf of Mexico oil spill with the sentry autonomous underwater vehicle.In:Proceedings of the International Conference on Intelligent Robots and Systems(IROS)Workshop on Robotics for Environmental Monitoring(WREM)
Johnson H P,Pruis M J.2003.Fluxes of fluid and heat from the oceanic crustal reservoir.Earth and Planetary Science Letters,216(4):565-574,doi:10.1016/S0012-821X(03)00545-4
Liu Tao,Xu Qi’nan,WANG Huizheng,et al.2002.“CR-02”6000m AUV hull structure systems.Journal of Ship Mechanics,6(6):114-119
Martin W,Baross J,Kelley D,et al.2008.Hydrothermal vents and the origin of life.Nature Reviews Microbiology,6(11):805-814,doi:10.1038/nrmicro1991
Millard N W,McPhail S D,Stevenson P,et al.2003.Multidisciplinary ocean science applications of an AUV:the Autosub science missions programme.In:Griffiths G,ed.The Technology and Applications of Autonomous Underwater Vehicles.Abingdon,UK:Taylor&Francis
Mu Lingji,Chen E,Huang Shenwei,et al.2013.Mechatronic system design for science/work class ROV.Applied Mechanics and Materials,284-287:1867-1871
Purcell M,Alt C V,Allen B,et al.2002.New capabilities of the REMUSautonomous underwater vehicle.In:Conference Proceedings OCEANS 2000 MTS/IEEE Conference and Exhibition.Providence,RI,USA:IEEE,1:147-151
Rona P A,Hannington M D,Raman C V,et al.1993.Active and relict sea-floor hydrothermal mineralization at the TAG hydrothermal field,mid-Atlantic ridge.Economic Geology,88(8):1989-1989,doi:10.2113/gsecongeo.88.8.1989
Shcherbina A Y,Gawarkiewicz G G,Linder C A,et al.2008.Mapping bathymetric and hydrographic features of Glover’s Reef,Belize,with a REMUS autonomous underwater vehicle.Limnology&Oceanography,53(5part2):2264-2272
Tao Chunhui,Lin Jian,Guo Shiqin.2007.Discovery of the first active hydrothermal vent field at the ultraslowspreading Southwest Indian Ridge.InterRidge News,16:25-26
Tao Chunhui,Li Huaiming,Jin Xiaobing,et al.2014.Seafloor hydrothermal activity and polymetallic sulfide exploration on the southwest Indian ridge.Chinese Science Bulletin,59(19):2266-2276,doi:10.1007/s11434-014-0182-0
Thomson R E,Davis E E,Burd B J.1995.Hydrothermal venting and geothermal heating in Cascadia Basin.Journal of Geophysical Research:Solid Earth,100(B4):6121-6141,doi:10.1029/95JB00030
Tivey M A,Dyment J.2010.The magnetic signature of hydrothermal systems in slow spreading environments.In:Rona P A,ed.Diversity of Hydrothermal Systems on Slow Spreading Ocean Ridges.Washington,DC:American Geophysical Union,43-66
Ura T,Obara T,Nagahashi K,et al.2004.Introduction to an AUV“r2D4”and its Kuroshima knoll survey mission.In:Oceans’04MTS/IEEE Techno-Ocean’04.Kobe,Japan:IEEE,2:840-845
Ura T,Obara T,Takagawa S,et al.2001.Exploration of Teisi Knoll by autonomous underwater vehicle"R-One robot".In:Conference Proceedings MTS/IEEE Oceans 2001.An Ocean Odyssey.Honolulu,HI,USA:IEEE,1:456-461
Ura T,Tamaki K,Asada A,et al.2007.Dives of AUV“r2D4”to rift valley of central Indian mid-ocean ridge system.In:OCEANS2007-Europe.Aberdeen,UK:IEEE,1-6
Vestgard K,Storkersen N,Sortland J.1999.Seabed surveying with the Hugin AUV.In:Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology.Durham,New-Hampshire,USA:University of New Hampshiremarine Systems,63-74
Wu T,Tao C H,Liu C,et al.2018.Correction of tri-axial magnetometer interference caused by an autonomous underwater vehicle near-bottom platform.Ocean Engineering,160(2018):68-77
Wu Jianguo,Liu Jian,Xu Huixi.2014.A variable buoyancy system and a recovery system developed for a deep-sea AUV Qianlong I.In:OCEANS 2014-TAIPEI.Taipei,Taiwan:IEEE,1-4
Yoerger D R,Bradley A M,Jakuba M,et al.2007.Autonomous and remotely operated vehicle technology for hydrothermal vent discovery,exploration,and sampling.Oceanography,20(1):152-161,doi:10.5670/oceanog
Yoerger D R,Bradley A M,Martin S C,et al.2006.The Sentry Autonomous Underwater Vehicle:Field Trial Results and Future Capabilities.In:AGU Fall Meeting Abstracts