Abstract
In this study, a small and modular underwater robot is proposed. The modular structure of the system improves the maintainability and flexibility of the system and allows the user to exchange modules depending on the desired objective. This paper describes the implementation and evaluation of an anchor module and an undisturbed soil core sampling module. Undisturbed soil core sampling is indispensable to radiological surveying but it also introduces the high risk of the robot getting stuck on the lakebed. And so, a safe method of core sampling using an anchor is suggested and prototype anchor drills are evaluated.
