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A hovering-type autonomous underwater vehicle (AUV) capable of cruising at low altitudes and observing the seafloor using only mounted sensors and payloads was developed for sea-creature survey. The AUV has a local area network (LAN) interface for an additional payload that can acquire navigation data from the AUV and transmit the target value to the AUV. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In this research, water tank tests and sea trials were performed using an AUV equipped with a visual tracking system developed in other laboratories. The experimental results proved that additional payload can control the AUV position with a standard deviation of 0.1 m.

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Cesium-enriched particles released from the Fukushima Daiich Nuclear Power Plant (NPP1) exist in the Fukushima coastal waters and offshore, and they possibly affect the wide-area distribution of the radioactive cesium measured by the towed spectrometer. Therefore, the distribution of them in marine sediment was measured near NPP1 in November, 2016. We scanned the seafloor using a remotely operated vehicle (ROV) equipped with a NaI(Tl) scintillation detector. The sediment samples were obtained on the survey line by the ROV's suction-type sampler. Five cesium particles, with diameters of approximately 400 μm, were isolated from the samples. The radioactivity of 137 Cs was less than 360 Bq, and no nuclides other than 134 Cs, 137 Cs, and natural radioactive ones were found from gamma-ray spectroscopy. In the particles, titanium and calcium were commonly detected by energy-dispersive X-ray spectrometry. We also estimated the particles' presence from the change in the total counting rate of the scintillation detector. The average particle density is found to be 3.45 � 10 À 2 m À 1 at most. The average increase in the counting rate directly above the cesium-enriched particles in the sediment was less than double. Therefore, the effect of such particles on the distribution of radioactive cesium is limited.