2A1-E07 Development of a small and modular UROV for environmental surveying : Improvement of an undisturbed soil core sampling module

摘要

In this study, the development of an underwater robot for surveying radioactive materials on the lake bed. Several methods have been proposed for soil core sampling using underwater robots but these methods have high risk of the robot being unable to detach from the lakebed. This paper, describes the improvement of undisturbed soil core sampling module of the robot. Revised sampling methods and new modules are evaluated.