Lightweight underwater robot developed for archaeological surveys and excavations

Abstract This paper reports the development of a lightweight remotely operated vehicle that performs underwater excavation work for archaeological surveys. Discovering artifacts is generally difficult because they are in high risk areas and often covered with sediment. To discover them, divers large vehicles must conduct manipulator(s). Nevertheless, accomplishing such tasks small portable robots without As described herein, we developed robot 35 kg can remove sediment from seabed or lake bottom using its thrusters instead manipulator. Numerous redundant equipped to compensate reaction force removal. Eight arranged not only removal but also fine maneuvering. First, through preliminary experiments, investigated potential use water flow generated pair marine surface Next, design eight high-definition cameras Finally, conducted field experiments demonstrate performance usefulness robot.