Tri-SedimentBot: An underwater sediment sampling robot

Bae, Jun Han; Park, Jee Hwan; Lee, Sang-Jun; Min, Byung‐Cheol

doi:10.1109/coase.2016.7743567

Cited by 4 publications

(1 citation statement)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Furthermore, they derived a mathematical model based on a skin friction (Isaka et al, 2020a) and the prototype robot achieved noticeable penetration depth of 0.65 m in a water tank (Isaka et al, 2020b). An underwater sediment‐sampling robot that has a syringe with helical screw blades to penetrate sediments was developed by Bae et al (2016). To test the robot control performance, they conducted a laboratory experiment in which the penetration depth of the syringe into sand was less than 0.10 m. Subsequently, they investigated the quality of the sediment for future robotic sampling by experimentation using a sediment‐sampling platform (Bae et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

Sediment penetration performance of a portable underwater robot for core sampling

Sakagami

Kawabata

Yokoi

et al. 2023

Journal of Field Robotics

View full text Add to dashboard Cite

As described in this paper, we investigate the sediment penetration performance of a portable underwater robot with a helical screw pipe using marine thrusters with limited force. First, we derive a mathematical model based on an empirical and simple method using the undrained shear strength of cohesive soil to provide a rough estimate of maximum penetration depths. Then, we perform numerical analysis for estimating the maximum depth of sediment penetration and for designing a sampling pipe. Additionally, we use experimentation to investigate the relation between the penetration depth of the helical screw pipe and the force of marine thrusters mounted on the portable underwater robot. After testing the penetration performance in a water tank, we conduct a field experiment at Lake Biwa and obtain results of the penetration depths. The maximum penetration into the lake sediment is at least 0.30 m. The results demonstrated the possibility of using the derived mathematical model to make a rough estimation of the maximum penetration depth for clay sediments. Additionally, we can use non‐powerful thrusters equipped with small autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) for sediment sampling. The proposed method is also applicable for the installation of underwater sensors using small AUVs and ROVs.

show abstract

Section: Introductionmentioning

confidence: 99%

Sediment penetration performance of a portable underwater robot for core sampling

Sakagami

Kawabata

Yokoi

et al. 2023

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

Soil Discharging Mechanism Utilizing Water Jetting to Improve Excavation Depth for Seabed Drilling Explorer

et al. 2020

View full text Add to dashboard Cite

Seabed mineral resources have been found on the bottom of the ocean, and to utilize them, samples must be taken and analyzed. This study develops a seafloor robotic explorer that can excavate and sample seafloor soil. In a previous study, we developed a drilling robot that could excavate 430 mm into the ground while underwater. However, excavation deeper than 430 mm was not possible because the discharging outlet became buried, making it difficult to discharge the drilled soil. In this paper, we develop a discharging mechanism utilizing water jetting to improve the excavation depth to 650 mm and potentially deeper.

show abstract