FAQs Archive

Q: D.12 How will multiple underwater robots coordinate to avoid overlapping or interfering with each other's missions and paths?

Each underwater robot will be provided with a mission as part of pre-launch communications. Through the ship-based USBL and seafloor dynamic LBL positioning, the robot will move to the desired target starting location. At the start and end of each path, the robot will perform a small visual survey. When arriving at the start of a run, the robot will survey the area briefly to ensure that the positional alignment of the new path is correctly positioned relative to the start or end of the robot from past paths. It will use the distinctive pattern of nodules in the survey as a fingerprint to understand any centimeter-level misalignments that the navigation system is experiencing relative to the navigation system from other robot trips to the same location.

Q: D.10 How does the underwater robot maintain its position and orientation on the ocean floor? What technologies facilitate the underwater robot's underwater navigation and mapping?

The underwater robot incorporates several standard environmental awareness sensors, such as DVL (Doppler Velocity Log), pressure sensors, USBL (ultra-short baseline), and Stereo Cameras, which are fed into the INS (inertial navigation system), where the information is fused to develop a state estimation for the AUV. As multiple AUVs begin to operate concurrently, a dynamic LBL (Long BaseLine) positioning approach will also be employed. More information about subsea positioning The state estimation accuracy for the AUV will be highest at the seafloor, where it is in proximity to other AUVs that have maintained a high accuracy, and near the surface, where it is close to the surface vessel-based USBL. When at the surface, the position will be based almost exclusively on USBL. When at the seafloor, the dynamic LBL combined with DVL and vision tracking of the seafloor will dominate. The stereo cameras on the front of the AUV map out the locations of any nodules and any macro life for the arm control algorithms to determine how to handle them.

Q: D.11 How does the underwater robot adapt to changing seabed topography during its mission?

As the underwater robot travels through the mission, it adjusts the operating mode from having a desired depth while it travels down through the water, and then, as the acoustic sensors and optical sensors begin to observe the seafloor, the vehicle autonomously transitions to altitude control. Altitude control will be active while collecting nodules. The vertical thrusters adjust the force they exert to maintain the set altitude for the AUV over the seafloor. As nodules are collected, the buoyancy engines on board the AUV pump water out of the tanks to maintain the same small desired downward force from the vertical thrusters. The seafloor's typography, where we will collect nodules, gradually changes, and the vehicle travels relatively slowly. A forward-looking sonar provides feedback to the system for topography changes that are too much for the vertical thrusters to manage.

Q: D.9 What are the size ranges of nodules that the underwater robot’s robotic arms pick up?

The current end effector and internal nodule conveyor can accommodate a wide range of nodule sizes from 2 cm to 11 cm diameter. Refinement to the end effector design and conveyor for the production system will be customized to the nodule distribution in the field of operation. Our current v6 concept economic model assumes targeting the largest nodules in the field picking nodules 6.5 cm diameter and larger. An average nodule collection diameter of 8cm is assumed based on available size distribution data.

Q: C.5 How are nodule-rich areas mapped and identified?

Nodule-rich areas are mapped and identified as part of the mining prospecting and exploration phase (not our focus). A traditional AUV with wideband sonar and box core samples performs the mapping. The essential data is nodule abundance measured in kg per square meter and metal grade. The metal grade is by collecting multiple box core samples and sending the nodules to the lab to measure the ore grade. Multiple NI-43-101 resource estimations have been completed for deep-sea minerals. The resource estimations are much more complex on land as the resource is three-dimensional compared to two-dimensional on the seabed. Holes are drilled, and an estimate of the three-dimensional resources is calculated.

Q: E.3 Are there any alternative or renewable energy sources to power the carrier ship?

We hope so, and our architecture and commercial model for the vessels enable us to use the best available technology. People are working on batteries, Hydrogen, and Ammonia energy systems for ships. Others are working to capture the carbon from the engines. We will adopt the best technology that is available.

D.12 How will multiple underwater robots coordinate to avoid overlapping or interfering with each other’s missions and paths?

Holly Nielsen2025-03-10T13:27:11-07:00December 9th, 2024|

D.10 How does the underwater robot maintain its position and orientation on the ocean floor? What technologies facilitate the underwater robot’s underwater navigation and mapping?

Holly Nielsen2025-03-10T13:22:17-07:00December 9th, 2024|

D.12 How will multiple underwater robots coordinate to avoid overlapping or interfering with each other’s missions and paths?

D.10 How does the underwater robot maintain its position and orientation on the ocean floor? What technologies facilitate the underwater robot’s underwater navigation and mapping?

D.11 How does the underwater robot adapt to changing seabed topography during its mission?

D.9 What are the size ranges of nodules that the underwater robot’s robotic arms pick up?

C.5 How are nodule-rich areas mapped and identified?

E.3 Are there any alternative or renewable energy sources to power the carrier ship?

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D.12 How will multiple underwater robots coordinate to avoid overlapping or interfering with each other’s missions and paths?

D.10 How does the underwater robot maintain its position and orientation on the ocean floor? What technologies facilitate the underwater robot’s underwater navigation and mapping?

D.11 How does the underwater robot adapt to changing seabed topography during its mission?

D.9 What are the size ranges of nodules that the underwater robot’s robotic arms pick up?

C.5 How are nodule-rich areas mapped and identified?

E.3 Are there any alternative or renewable energy sources to power the carrier ship?

Impossible Metals

STAY INFORMED

Connect with Us

Policies

STAY INFORMED

Connect with Us

Impossible Metals

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Stay Informed