development of an underwater robot for lake surveying

ANNUAL MEETING FOR REPORTING RESULTS
OF INSTITUTE OF ENVIRONMENTAL RADIOACTIVITY
AT FUKUSHIMA UNIVERSITY
MARCH 19, 2015
DEVELOPMENT OF AN UNDERWATER ROBOT
FOR LAKE SURVEYING
TAKAYUKI TAKAHASHI
CONTENTS
・Background
・Concept of robot
・Goal of Research
・Development of an undistributed core sampling system
・Development of an under water robot
・Conclusion
1
BACKGROUND
We have a lot of lakes and ponds such as Lake Inawashiro and Goshikinuma Ponds in Fukushima Prefecture. Various environmental surveys are being conducted so far.
Water quality
Radioactive substance
Ecosystem
IMPORTANT:
Sampling the bottom sediment
Under Water Robots
2
CONCEPT OF ROBOT
Modular structured UROV UROV (Untethered Remotely Operated Vehicle)
Embedded Battery, Communication with wire to the mother ship MERITS:
• real‐time vision
• high mobility because of thin cable
high speed optical fiber communication
MODULE STRUCTURE
MERITS:
• keeping the size of robot small
• reducing the risk of leaking
• easy maintenance
3
Prototype of the robot
SAMPLING METHODS 1/2 Ekman‐Berge bottom grab sampler
Experimental result (in Lake Inawashiro)
destroying layered structure of sample
4
SAMPLING METHODS 2/2
sampling pipes with screw threads *1)*2)
anchor *2)
these methods require a large amount of thrust force
5
*1)柱状採泥用小型水中ロボットの回転力利用法の検討，横井賢士郎ら
*2)湖沼調査用モジュール構造型小型水中ロボットの開発‐不撹乱柱状採泥モジュールの開発‐，鷹箸修平ら
GOAL OF RESEARCH
Developing Undistributed Core Sampling Method
REQUIREMENTS:
more than 100[mm] in intrusion depth
more than 30[mm] in diameter of core
undistributed core sampling
more than 100[g] in weight of the sample
usable for a small (not high power) under water robot
multiple sampling in one submerge
6
IMAGE OF SAMPLING STRATEGY
sampling pipe
robot
clear water
floating mud
bottom sediment
using the thrusters to generate the required forces for intrusion and extraction of sampling pipe
7
SYSTEM INTEGRATION OF SAMPLING MODULE
Developing a module for multiple sampling in one submerge
Specifications
Design of the sampling module
height
409[mm]
width
560[mm]
depth
532[mm]
weight
22[kg] approx.
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TEST OF SAMPLING MODULE
Sampler
Counter
weight
Water
Mud
pipe slider
Collected sample
pipe 1
length [mm]
weight [g]
90
165
pipe 2
78
136
intrusion depth：150[mm]
density of mud: 1.59[kg/m3]
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pipe revolver
DEVELOPMENT
AN UNDER WATER ROBOT
Installing the developed sampling module on an under water robot
Specifications
weight
84[kg]
height
750[mm]
width
1072[mm]
depth
950[mm]
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CONCLUSION
 A practical sampling module for undistributed core sampling is developed
 Developed an under water robot on which the sampling module installed
 Basic confirmation of the robot and the sampling module are conducted
Thank you for your attention
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