ALBERT

Description: 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.

Description: The deep ocean floor between the Clarion and Clipperton fracture zones (NE equatorial Pacific) has the highest known manganese nodule abundance in the world oceans. A detailed analysis of MR1 (Mapping Researcher 1, 11–12 kHz) sonar images and free-fall grab data in the Korean manganese nodule field areas reveals a close relationship between side-scan sonar characteristics of the seafloor and manganese nodule abundance. Eight sonar facies are identified based on back-scattering intensity and distribution patterns. These sonar facies can be interpreted as (1) volcanic seamounts (facies I-1), (2) bounding faults of abyssal hills (facies I-2 and II-1), (3) lava flows or volcanoclastic mass-flow deposits around the volcanic seamounts (facies I-3 and II-2), (4) crests of abyssal hills (facies II-1), (5) abyssal troughs between abyssal hills (facies III-1), (6) relatively flat areas (facies II-3 and III-2). In the areas where facies II-1 (abyssal hill crests with thin sediment cover) and II-3 (relatively flat areas draped by thin sediments) are dominant, manganese nodules occur abundantly. In contrast, zones comprising facies III-1 (abyssal troughs with thick sediment cover) and III-2 (relatively flat areas covered by thick sediments) are characterized by low abundance of manganese nodules. This relationship between distribution of sonar facies and manganese nodule abundance implies that (1) the qualitative difference in acoustic reflectivity of long-range sidescan sonar with some ground truth data is useful for regional assessment of manganese nodule occurrence over wide areas in a reasonable time, and (2) seafloor topography and sediment thickness are important controlling factors for regional occurrences of manganese nodules.

Description: A semi-quantitative assessment is made of the animals observed in archived videotapes taken from the research submersible Jago, during diamond mining and exploratory surveys off the mouth of the Orange River on the west coast of southern Africa (28°15′S, 29°11′S) in November 1996. The seabed environment is described and nekton associations with substratum features are identified. The area is characterized by heterogeneity to its physical and biological struture. The variety of observed nekton is low, and communities are dominated by goby Sufflogobius bibarbatus, juvenile hake Merluccius spp. and cuttlefish Sepia spp. (on soft substrata), as well as false jacopever Sebastes capensis and kingklip Genypterus capensis (on rocky substrata).

Description: One kinds of glycolipid (SBI) have been isolated from the marine brown alga Sargassum hemiphyllum (Turn.) Ag. The structures of SBI have been determined as the sodium salt of 1-0-acyl-3-0-(6′-sulfo-α-D-quinovopyrannosyl) glycerol (acyl: tetradecanoyl, pentadecanoyl, 11-hexadecenoyl, hexadecanoyl, 10,13-octadecadienoyl, 9-octade cenoyl, 15-metylheptadecanoyl and 11-eicosenoyl 17:1.5:19:153:1:19:1:2) on the basis of chemical and spectral evidence and GC-MS analysis, respectively. Four constituents of the SBI were new compounds [the sodium salt of 1-0-(11″-hexadecenoyl)-3-0-(6′-sulfo-α-D-quinovopyrannosyl) glycerol, the sodium salt of 1-0-(10″,13″-octadecadienoyl)-3-0-(6′-sulfo-α-D-quinovopyrannosyl) glycerol, and the sodium salt of 1-0-(15″-metylhexadecenoyl)-3-0-(6′-sulfo-α-D-quinovopyrannosyl) glycerol, and the sodium salt of 1-0-(11″-eicosenoyl)-3-0-(6′-sulfo-α-D-quinovopyrannosyl) glycerol]. All compounds were isolated from marine brown alga for the first time.

Description: Siliceous and calcareous sponges commonly are treated with acid to remove the spicules prior to embedding and cutting for histological investigations. Histology of spiculated sponge tissue represents a challenging problem in sponge histotechnology. Furthermore, fluorescence in situ hybridization (FISH), a key method for studying sponge-associated microbes, is not possible after acid treatment. For a broad range of siliceous sponge species, we developed and evaluated methods for embedding in paraffin, methylmethacrylate resins, LR White resin and cryomatrix. Different methods for cutting tissue blocks as well as mounting and staining sections also were tested. Our aim was to enable histological investigations and FISH without prior removal of the spicules. To obtain an overview of tissue and skeleton arrangement, we recommend embedding tissue blocks with LR White resin combined with en bloc staining techniques for large specimens with thick and numerous spicules, but paraffin embedding and subsequent staining for whole small specimens. For FISH on siliceous sponges, we recommend Histocryl embedding if the spicule content is high, but paraffin embedding if it is low. Classical histological techniques are used for detailed tissue examinations.

Description: The chief host of cadmium in zinc deposits is sphalerite, the cadmium content of which depends on the type of deposit. Sphalerite from Mississippi Valley-type (MVT) deposits has high cadmium concentrations whereas sphalerite from exhalative deposits has low cadmium concentrations. The Cd content of sphalerite depends on the Cd/Zn ratio, ligand activities, and temperature of the ore-forming fluids. The combined effect of variation of temperature, pH, total activity of reduced sulfur, and activity of Cl- cannot by itself account for either Cd depletion (exhalative deposits) or Cd enrichment (MVT deposits). Variations in the Cd/Zn ratio of the fluid have a significant effect in determining that of sphalerite. Basinal brines, which can considered to be the recent equivalents of MVT fluids, have high Cd/Zn ratios, and active exhalative systems are characterized by low Cd/Zn ratios. Probably the differences in sphalerite composition between the different deposit types are less a function of temperature and ligand activities than Cd/Zn ratio of the ore-forming fluids. In the hydrothermal environment, the Cd/Zn ratio is generally not high enough to allow crystallization of cadmium sulfides (greenockite or hawleyite). The abundance of greenockite in the supergene alteration zone of hydrothermal zinc deposits can be explained on the basis of Zn scavenging by crystallizing smithsonite.

Description: Fault tolerance is an important aspect in the development of control systems for multi-legged robots since a failure in a leg may lead to a severe loss of static stability of a gait. In this paper, an algorithm for tolerating a locked joint failure is described in gait planning for a quadruped robot with crab walking. A locked joint failure is one for which a joint cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but legged robots have fault tolerance capability to continue walking maintaining static stability. A strategy for fault-tolerant gaits is described and, especially, a periodic gait is presented for crab walking of a quadruped. The leg sequence and the formula of the stride length are analytically driven based on gait study and robot kinematics. The adjustment procedure from a normal gait to the proposed fault-tolerant crab gait is shown to demonstrate the applicability of the proposed scheme.

Description: The torque generated by a rotating joint comprises the useful force exerted by the joint on the external environment, and both the magnitude and distribution of torque through the step cycle during walking are important variables in understanding the mechanics of walking. The mechanics of the American lobster (Homarus americanus) and snow crab (Chionoecetes opilio) during walking were modelled to examine the relative roles of flexor versus extensor apodeme–muscle complexes, investigate which legs of these decapods likely contribute the greatest to locomotion, determine scaling effects of torque generation, and assess the relative roles of various model variables on torque production. Force generated along the length of the apodeme by the muscle was modelled based on apodeme surface area, muscle stress, and muscle fibre pinnation angle. Torque was then calculated from this estimated force and the corresponding moment arm. The flexor apodeme–muscle complex is calculated to generate consistently greater forces than the extensor, and generally this results in flexor torque being larger than extensor, though the snow crab does illustrate the opposite in two of its legs. This greater torque generation in flexion suggests that, in addition to the pushing of the trailing legs, the pulling action of the leading legs may play a significant role, at least during lateral walking. Leg 4 of both species appears to generate greater torques and thus provide the greatest forces for locomotion. Torque generation as a function of body size shows a second order response due to the increase in apodeme surface area. The pinnation angle of the muscle fibre is found to be insignificant in force generation, apodeme surface area (representing muscle cross sectional area) likely plays the most influential role in total force production, and moment arm controls the distribution of this force through the step cycle. Muscle stress remain a largely unknown quantity however, and may significantly affect both magnitude and distribution through step cycle of forces, and thus torque. Despite the uncertainty associated with the muscle stress parameter, the modelled results fit well with previously published force measurements.

Description: Seafloor morphology and ferromanganese nodule occurrence were studied using a multibeam side scan sonar (SeaBeam, 2000) and a deep-sea camera system in the Korea Deep-sea Environmental Study (KODES) area, northeast equatorial Pacific. Seafloor morphology and nodule abundance are highly variable even in this small study area. The NNE-SSW oriented hills are parallel and about 100–200 m high. Valleys are very flat-floored, while hilltops are rugged with depressions of tens of meters. Cliffs to about 100 m bound the valleys and the hills. The study area can be classified into three types based both on nodule occurrence and seafloor morphology, mostly G- and B-types and some M-type. G-type is characterized by high nodule abundance, ubiquitous bioturbation, and flat seafloor morphology, while B-type is characterized by irregular-shaped nodules, variable nodule abundance, occurrence of giant nodules and sediment lumps, rugged bottom morphology with depressions, and white calcareous surface sediments. Medium nodule abundance and a generally flat seafloor characterize M-type. G-type occurs mostly in the valley regions, while B-type is on the hilltop areas. M-type is located between the hilltop and the valley. Tectonic movement of the Pacific plate resulted in the elongated abyssal hills and cliffs. The rugged morphology on hilltops resulted from erosion and redistribution of surface siliceous sediments on hilltops by bottom currents, outcropping of underlying calcareous sediments, and dissolution of the carbonate sediments by corrosive bottom water undersaturated with CaCO3. Sediment eroded from the hills, which is relatively young and organic-rich, is deposited in the valleys, and diagenetic metal supply to manganese nodules in the valley area is more active than on the hills. We suggest that tectonic movement ultimately constrains morphology, surface sediment facies, bottom currents and sediment redistribution, bioturbation, thickness of the sedimentary layer, and other conditions, which are all interrelated and control nodule occurrence. The best potential area for mining in the study area is the G-type valley zones with about 3–4 km width and NNW-SSE orientation.

Description: The family Forskaliidae (Siphonophora, Physonectae) contains a single genus, Forskalia, whose species are, in general, poorly known. However, in recent years many Forskalia specimens have been collected by scuba divers or by using submersibles. These specimens have allowed a comprehensive review of the species within the genus to be carried out. In addition two new species are described.