Malta Cistern Mapping
In the spring of 2008, Dr. Clark worked with archeologist Dr. Timmy Gambin from Malta to explore and map ancient cisterns located on the islands of Malta and Gozo. The cisterns of interest acted as water storage systems for fortresses, private homes, and churches. They often consisted of several connected chambers, still containing water. A sonar-equipped Remotely Operated Vehicle (ROV) was deployed into the cisterns dating back to 300 B.C. to obtain both video footage and sonar range measurements. Different mapping and localization techniques were employed to construct 2D maps of 6 different cisterns. An additional expedition took place in Spring of 2009, resulting in 26 more sites being mapped. This project was initially funded through a California State Faculty Support Grant, and is now being funded through an NSF IRES grant.
More information about the project can be found at the Malta Cistern Mapping Site.