Extractable deposits of silver, gold, copper, zinc, lead, gas hydrates and other valuable materials can be found at the ocean floor. The most valuable minerals are found at large depths, starting from 1000 m and deeper. Therefore, the leading offshore companies are currently designing systems and tools for deep sea mining. The mining at the desired depth of a few kilometers is a great challenge though as it has never been attempted before at the commercial scale. One of the fundamental design challenges lays in the understanding of and preventing from the problems associated with the dynamics of a subsea Vertical Transport System (VTS). The function of the VTS is to transport slurry (a thin mixture of water and finely divided minerals) from the seafloor to the mining support vessel. The VTS consists of a vertically hanging submerged pipe through which the slurry is transported upwards and a number of booster stations which maintain the pressure in the pipe that enables the desired slurry flow. The VTS system is subject to a number of the dynamic excitations such as the vessel motion, the slurry flow in the pipe, the sea current and a propulsion device that is envisaged to control the position of the lower end of the pipe at the desired location. To design a reliable VTS system the effect of all the above-mentioned excitation mechanisms has to be accounted for.
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