Development of a human-portable underwater robot for soil core sampling

Sakagami, Norimitsu; Sasaki, Shinnosuke; Kawabata, Michitaka; Yokoi, Kenshirou; Matsuda, Shinji; Mitsui, Atsushi; Sano, Kimikazu; Tago, Kouichi; Kawamura, Sadao

doi:10.1109/oceans-bergen.2013.6608186

Cited by 11 publications

(17 citation statements)

References 5 publications

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“…Humans remotely select a point to sample and drop the negatively buoyant sampler from the ROV into the soil, then hoist everything up with the crane. A smaller operator-portable ROV with sample coring cylinders was introduced in [10], [11]. At 2.3 m in length and 34 kg in mass (in the air), it is more portable than previous platforms.…”

Section: B State Of the Art Robotic Technologymentioning

confidence: 99%

“…Vertically directed thrusters, rather than negative buoyancy, generate forces that allow the core to penetrate the sediment. However, due to the limitations of the electric thrusters, the penetration depth of the sediment in field experiments was limited to approximately 0.16 m [10]. Another study explored cooperation between human operators and robotic teams for sampling along the shoreline [21].…”

Section: B State Of the Art Robotic Technologymentioning

confidence: 99%

“…Based on Step 1 experimental results, f 1 (X) and f 2 (X) can be calculated as shown in Table II, where f 1 (X) and f 2 (X) are normalized values into the range [1,10]. First, we ran a two-way ANOVA to verify the significance of the results from two motors.…”

Section: B Statistical Approachmentioning

confidence: 99%

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Evaluation of Sampling Methods for Robotic Sediment Sampling Systems

Bae

Park

et al. 2020

Preprint

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Analysis of sediments from rivers, lakes, reservoirs, wetlands and other constructed surface water impoundments is an important tool to characterize the function and health of these systems, but is generally carried out manually. This is costly and can be hazardous and difficult for humans due to inaccessibility, contamination, or availability of required equipment. Robotic sampling systems can ease these burdens, but little work has examined the efficiency of such sampling means and no prior work has investigated the quality of the resulting samples. This paper presents an experimental study that evaluates and optimizes sediment sampling patterns applied to a robot sediment sampling system that allows collection of minimally-disturbed sediment cores from natural and man-made water bodies for various sediment types. To meet this need, we developed and tested a robotic sampling platform in the laboratory to test functionality under a range of sediment types and operating conditions. Specifically, we focused on three patterns by which a cylindrical coring device was driven into the sediment (linear, helical, and zig-zag) for three sediment types (coarse sand, medium sand, and silt). The results show that the optimal sampling pattern varies depending on the type of sediment and can be optimized based on the sampling objective. We examined two sampling objectives: maximizing the mass of minimally disturbed sediment and minimizing the power per mass of sample. This study provides valuable data to aid in the selection of optimal sediment coring methods for various applications and builds a solid foundation for future field testing under a range of environmental conditions.

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Section: B State Of the Art Robotic Technologymentioning

confidence: 99%

Section: B State Of the Art Robotic Technologymentioning

confidence: 99%

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Evaluation of Sampling Methods for Robotic Sediment Sampling Systems

Bae

Park

et al. 2020

Preprint

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“…In this method, a pipe-shaped sampler is sent from the drillship to the seafloor to collect samples [4]- [6]. There are also seafloor drilling robots such as the Tri-SedimentBot [7], and Human-portable Underwater Robot [8]. By using this method, samples can be obtained continuously without any disturbance.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2020

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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.

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“…Robotic technology is used for soil sampling in recent years [6], by controlling a Remotely Operated Vehicle (ROV), scientists are easy to obtain the sediment soil for research. In this paper, an underwater sediment soil sampling robot is proposed.…”

Section: Introductionmentioning

confidence: 99%

Development of an Underwater Robot for Sediment Soil Sampling

Gao¹,

Zheng²,

Liang³

et al. 2015

Proceedings of the 3rd International Conference on Mechatronics and Industrial Informatics

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An underwater sediment soil sampling robot is presented in this paper. The developed robot is composed of a Remotely Operated Vehicle (ROV), a buoyancy regulator, a sampling corer and other parts. Differ from traditional ROVs and sampling devices, the robot moves by swinging the fins and collects soil by regulating the buoyancy. This robot keeps neutral buoyant before sampling. When it is sampling, the buoyancy regulator is activated to drive the robot to dive and insert the sampling tube into the soil. The sampling corer is optimized to suit the robot. Experiments for evaluating the motion performance of the robot is explained and the field sampling is accomplished. The sampling result proves the utility of the robot in sediment soil sampling field.

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Development of a human-portable underwater robot for soil core sampling

Cited by 11 publications

References 5 publications

Evaluation of Sampling Methods for Robotic Sediment Sampling Systems

Evaluation of Sampling Methods for Robotic Sediment Sampling Systems

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

Development of an Underwater Robot for Sediment Soil Sampling

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