Sediment penetration performance of a portable underwater robot for core sampling

Author:

Sakagami Norimitsu1ORCID,Kawabata Michitaka2,Yokoi Kenshiro2,Matsuda Shinji3,Mitsui Atsushi3,Sano Ko3,Kawamura Sadao2

Affiliation:

1. Department of Navigation and Ocean Engineering Tokai University Shimizu Shizuoka Japan

2. Department of Robotics Ritsumeikan University Kusatsu Shiga Japan

3. Oyo corporation Tsukuba Ibaraki Japan

Abstract

AbstractAs 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.

Funder

Japan Science and Technology Agency

Publisher

Wiley

Subject

Computer Science Applications,Control and Systems Engineering

Reference41 articles.

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3. Installation constraints of suction assisted foundations and anchors for offshore energy development;Akeme K.O.;International Journal of Geomate,2018

4. Evaluation of Sampling Methods for Robotic Sediment Sampling Systems

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