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

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...

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Bibliographic Details
Published inIEEE access Vol. 8; pp. 28560 - 28570
Main Authors Isaka, Keita, Tsumura, Kazuki, Watanabe, Tomoki, Toyama, Wataru, Okui, Manabu, Yoshida, Hiroshi, Nakamura, Taro
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Discharge
Drilling robot
Excavation
Exploratory drilling
Force
marine robotics
Mineral resources
Ocean floor
Propulsion
Robot kinematics
seabed exploration
Soil
Soil water
Soils
Stress
underwater excavation
water jetting
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Summary: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.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.2972572