Abstract
Nowadays, social infrastructures in Japan are rapidly becoming old and many facilities which help Japanese people to make a good life have various problems. We have to immediately develop new technologies which enable us to cope with those problems efficiently and effectively. The objective of this research is to develop two key technologies. One of them is a means which enable us to take clear movies in turbid water, and the other is an attitude control method of underwater robots because the robots have to go to designated points. First, we designed Anchor Diver 4.1 for developing die attitude control. Second, we made a new underwater robot named "Anchor Diver 5.0" which has a clear case and a water proved camera. Then, we show results of practical experiment at Miyagase - dam in Kanagawa prefecture and evaluate the means we adopted in this research.
