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Hard Rock Coring at the Steep Terrain Seafloor with the Flipper Crawler ROV

机译：鳍式履带ROV在陡峭地形海底的硬岩取心

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Hard-rock coring is desired for scientific research and also for exploration of mineral resources such as a hydrothermal deposit or cobalt-rich crust. So far, only hard-rock coring at flat, even seafloor have been conducted. There is a slight difficulty for a conventional ROV to conduct hard rock coring at steep or irregular terrain seafloor because the ROV needs a function or mechanism to maintain its stability. JAMSTEC developed the flipper crawler system to address the problem . The flipper type crawler system which can rotate a crawler itself provides not only the advantage mobility but also a high performance to hold on. The authors conducted the running experiments of the flipper type crawler ROVs on sand, cobble, or rock reef seafloor. The authors also conducted an initial hard-rock coring experiment at steep and irregular terrain seafloor off Okinawa. We succeeded in obtaining core samples from the steep terrain rock field and confirmed the advantage of the flipper crawler ROV for hard-rock coring.
机译：硬岩取心是科学研究和矿产资源勘探的理想选择，例如热液矿床或富钴结壳。迄今为止，仅在平坦甚至海底进行了硬岩取芯。传统的ROV在陡峭或不规则的地形海底进行坚硬的岩心取芯略有困难，因为ROV需要一种功能或机制来保持其稳定性。 JAMSTEC开发了脚蹼履带系统来解决该问题。能够使履带自身旋转的脚蹼型履带系统不仅具有移动性的优点，而且还具有高性能。作者在沙子，鹅卵石或礁石海底上进行了脚蹼式履带式ROV的运行实验。作者还在冲绳附近陡峭和不规则地形的海底进行了初步的硬岩取芯实验。我们成功地从陡峭的地形岩石中获取了岩心样本，并确认了履带式履带式机器人ROV用于硬岩取芯的优势。

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